WO2019230102A1 - Actuator device, actuator band, and actuator band manufacturing method - Google Patents

Actuator device, actuator band, and actuator band manufacturing method Download PDF

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Publication number
WO2019230102A1
WO2019230102A1 PCT/JP2019/008786 JP2019008786W WO2019230102A1 WO 2019230102 A1 WO2019230102 A1 WO 2019230102A1 JP 2019008786 W JP2019008786 W JP 2019008786W WO 2019230102 A1 WO2019230102 A1 WO 2019230102A1
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WO
WIPO (PCT)
Prior art keywords
actuator
wire
wires
heating
band
Prior art date
Application number
PCT/JP2019/008786
Other languages
French (fr)
Japanese (ja)
Inventor
金子　由利子
牧 平岡
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2019024082A external-priority patent/JP2021132415A/en
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Publication of WO2019230102A1 publication Critical patent/WO2019230102A1/en
Priority to US16/935,180 priority Critical patent/US11952683B2/en

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Classifications

    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D9/00—Open-work fabrics
    • D—TEXTILES; PAPER
    • D02—YARNS; MECHANICAL FINISHING OF YARNS OR ROPES; WARPING OR BEAMING
    • D02G—CRIMPING OR CURLING FIBRES, FILAMENTS, THREADS, OR YARNS; YARNS OR THREADS
    • D02G3/00—Yarns or threads, e.g. fancy yarns; Processes or apparatus for the production thereof, not otherwise provided for
    • D02G3/22—Yarns or threads characterised by constructional features, e.g. blending, filament/fibre
    • D02G3/38—Threads in which fibres, filaments, or yarns are wound with other yarns or filaments, e.g. wrap yarns, i.e. strands of filaments or staple fibres are wrapped by a helically wound binder yarn
    • D—TEXTILES; PAPER
    • D03—WEAVING
    • D03D—WOVEN FABRICS; METHODS OF WEAVING; LOOMS
    • D03D1/00—Woven fabrics designed to make specified articles
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04B—KNITTING
    • D04B1/00—Weft knitting processes for the production of fabrics or articles not dependent on the use of particular machines; Fabrics or articles defined by such processes
    • D04B1/14—Other fabrics or articles characterised primarily by the use of particular thread materials
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04B—KNITTING
    • D04B1/00—Weft knitting processes for the production of fabrics or articles not dependent on the use of particular machines; Fabrics or articles defined by such processes
    • D04B1/22—Weft knitting processes for the production of fabrics or articles not dependent on the use of particular machines; Fabrics or articles defined by such processes specially adapted for knitting goods of particular configuration
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04B—KNITTING
    • D04B21/00—Warp knitting processes for the production of fabrics or articles not dependent on the use of particular machines; Fabrics or articles defined by such processes
    • D04B21/20—Warp knitting processes for the production of fabrics or articles not dependent on the use of particular machines; Fabrics or articles defined by such processes specially adapted for knitting articles of particular configuration
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C1/00—Braid or lace, e.g. pillow-lace; Processes for the manufacture thereof
    • D04C1/02—Braid or lace, e.g. pillow-lace; Processes for the manufacture thereof made from particular materials
    • D—TEXTILES; PAPER
    • D04—BRAIDING; LACE-MAKING; KNITTING; TRIMMINGS; NON-WOVEN FABRICS
    • D04C—BRAIDING OR MANUFACTURE OF LACE, INCLUDING BOBBIN-NET OR CARBONISED LACE; BRAIDING MACHINES; BRAID; LACE
    • D04C1/00—Braid or lace, e.g. pillow-lace; Processes for the manufacture thereof
    • D04C1/06—Braid or lace serving particular purposes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N10/00—Electric motors using thermal effects
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B3/00—Ohmic-resistance heating
    • H05B3/40—Heating elements having the shape of rods or tubes
    • H05B3/54—Heating elements having the shape of rods or tubes flexible
    • H05B3/56—Heating cables
    • D—TEXTILES; PAPER
    • D10—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B—INDEXING SCHEME ASSOCIATED WITH SUBLASSES OF SECTION D, RELATING TO TEXTILES
    • D10B2401/00—Physical properties
    • D10B2401/04—Heat-responsive characteristics
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B2203/00—Aspects relating to Ohmic resistive heating covered by group H05B3/00
    • H05B2203/014—Heaters using resistive wires or cables not provided for in H05B3/54
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E20/00—Combustion technologies with mitigation potential
    • Y02E20/14—Combined heat and power generation [CHP]

Definitions

  • the present invention relates to an actuator device, an actuator band, and a method for manufacturing the actuator band.
  • Patent Document 1 discloses coiled and non-coiled nanofiber twisted yarn, polymer fiber twist and tension actuator.
  • Non-patent Documents 1 and 2 disclose coiled polymer fibers formed from linear low density polyethylene. According to Non-Patent Documents 1 and 2, the coiled polymer fiber is shrunk by heating and restored by heat dissipation.
  • Patent Document 2 discloses an actuator that can contract in the axial direction.
  • Patent Document 1 discloses an example in which a plurality of coiled polymer fibers are arranged to obtain an arbitrary generated force.
  • Maki Hiraoka et al. "High stretchability and polymer chain morphology of coiled polymer actuators", 24th Polymer Materials Forum Lecture Proceedings, Vol. 24, 39 (Released on November 15, 2015) Maki Hiraoka et. Al. ”“ Power-efficient low-temperament Woven coiled fiber actuator for wearable applications ”, Scientific Reports volume 6, Article number: 16358 (36358)
  • a loss such as a movement being restricted by friction or entanglement between the fibers may occur.
  • the contraction rate of the coiled polymer fiber that is, the fiber made of polymer is larger.
  • An object of the present invention is to provide an actuator device, an actuator band, and a method for manufacturing the actuator band that have a large ratio of contraction rate to initial tension.
  • an actuator device includes an actuator band and a control device, wherein the actuator band includes a plurality of actuator single wires, and the plurality of actuator single wires.
  • the actuator band includes a plurality of actuator single wires, and the plurality of actuator single wires.
  • the plurality of actuator single wires Are assembled, knitted or woven, one end of the plurality of actuator single wires is joined to each other, the other end of the plurality of actuator single wires is joined to each other, and the plurality of actuator single wires
  • the actuator wire is contracted by heating and restored by heat dissipation, and one end of the mesh heating element is joined to one end of the actuator wire, and the mesh heating element The other end is joined to the other end of
  • the actuator band according to one embodiment of the present invention is an actuator band including a plurality of single actuator wires, and the plurality of single actuator wires are assembled, knitted, or woven.
  • One end of each of the plurality of actuator single wires is joined to each other, and each of the plurality of actuator single wires covers an actuator wire and a side surface of the actuator wire, and
  • the actuator wire is formed of a polymer fiber, and the fiber is twisted around its long axis, and the fiber is a cylinder. Folded to have a coil shape, the actuator wire is heated The one end of the mesh heating element is joined to one end of the actuator wire, and the other end of the mesh heating element is joined to the other end of the actuator wire. Yes.
  • the actuator band manufacturing method includes the following steps.
  • the present invention provides an actuator device, an actuator band, and a method for manufacturing the actuator band having a large ratio of contraction rate to initial tension.
  • FIG. 1 It is sectional drawing which shows another example of the actuator single line which concerns on embodiment. It is sectional drawing which shows another example of the actuator single line which concerns on embodiment. It is a schematic diagram which shows the actuator band which concerns on embodiment. It is a figure which shows the state by which the actuator band which concerns on embodiment is not heated. It is a figure which shows the state by which the actuator band which concerns on embodiment is heated. It is a schematic diagram of the testing apparatus used for a heating test. 6 is a schematic diagram showing an actuator device according to Comparative Example 1. FIG.
  • FIG. 1 is a schematic diagram showing an actuator device according to an embodiment.
  • the actuator device 60 according to the embodiment includes an actuator band 1 and a control device 5.
  • the actuator band 1 includes a plurality of actuator single wires 13a and 13b.
  • the actuator device 60 will be described.
  • FIG. 2A is a schematic diagram showing actuator single wires 13a and 13b according to the embodiment.
  • FIG. 2B is a cross-sectional view of the actuator single wires 13a and 13b according to the embodiment.
  • FIG. 2B is a cross-sectional view of the cut surface including the line 2B-2B shown in FIG. 2A.
  • the actuator single wires 13a and 13b are provided on the side surfaces of the actuator wire 11 and the actuator wire 11 formed by twisting two coiled polymer fibers 111a and 111b together.
  • a net-like heating element 12 is formed by a plurality of heating wires 21a and 21b.
  • the actuator single wires 13a and 13b are referred to as the actuator single wire 13 without distinction
  • the heating wires 21a and 21b are referred to as the heating wire 21 without distinction
  • both the coiled polymer fibers 111a and 111b are referred to.
  • the coiled polymer fiber 111 may be called without distinction.
  • actuator wire 11 and “heating element 12” used in the present specification correspond to the terms “fiber” and “temperature control device” used in Patent Document 3, respectively.
  • the actuator wire 11 can be composed of a coiled polymer fiber 111 (see FIG. 3) formed of linear low density polyethylene.
  • the actuator wire 11 is contracted by heating and restored by heat dissipation.
  • the actuator wire 11 when the actuator wire 11 applied with a load of 10 MPa at one end thereof is heated to 90 degrees Celsius, the actuator wire 11 contracts by about 23%. When the actuator wire 11 is cooled to room temperature, the actuator wire 11 is restored to its original length. As disclosed in Patent Document 3, the actuator wire 11 can be heated to a temperature of, for example, 30 degrees Celsius or more and 100 degrees Celsius or less.
  • the material of the coiled polymer fiber 111 is not limited to linear low density polyethylene, and may be a polymer having anisotropic thermal expansion characteristics.
  • the material of the coiled polymer fiber 111 include polyethylene (for example, low density polyethylene or high density polyethylene), nylon (for example, nylon 6, nylon 6, 6, nylon 12), polyester, or elastomer (for example, , Silicon rubber).
  • polyethylene for example, low density polyethylene or high density polyethylene
  • nylon for example, nylon 6, nylon 6, 6, nylon 12
  • polyester for example, polyester 6, or elastomer (for example, , Silicon rubber).
  • FIG. 3 is a schematic diagram showing the actuator wire 11 according to the embodiment.
  • the actuator wire 11 can be composed of at least one coiled polymer fiber 111.
  • the actuator wire 11 may be composed of two coiled polymer fibers 111a and 111b integrated so as to be twisted together.
  • the actuator wire 11 may be composed of two or more coiled polymer fibers 111a and 111b that are twisted and twisted around the major axis.
  • the actuator wire 11 includes two or more coiled polymer fibers 111 such that the side surface of one twisted coiled polymer fiber 111a is in contact with the side surface of another twisted coiled polymer fiber 111b. It can be formed by twisting.
  • the coiled polymer fiber 111 is folded so as to have a cylindrical coil shape (spiral shape) by being twisted around the long axis. As described in Patent Document 3, the coiled polymer fiber 111 satisfies the following formula (I).
  • D represents the average diameter of the cylindrical coil of the coiled polymer fiber 111
  • d represents the diameter of the coiled polymer fiber 111. Because of this relationship, the displacement rate of the actuator wire 11 can be increased.
  • the average diameter D is obtained by subtracting the diameter d of the coiled polymer fiber 111 from the outer diameter D1 of the cylindrical coil.
  • the net-like heating element 12 covers the side surface of the actuator wire 11.
  • the net-like heating element 12 is preferably cylindrical so as to include the actuator wire 11 therein.
  • the net-like heating element 12 includes a plurality of heating wires 21a and 21b.
  • the net-like heating element 12 is formed by assembling, knitting, or weaving a plurality of heating wires 21a and 21b.
  • FIG. 4 is a cross-sectional view showing the heating wire 21 according to the embodiment.
  • the heating wire 21 includes a non-conductive elastic yarn 51 serving as a core yarn, and a metal wire 52 covered around the elastic yarn 51.
  • the heating wire 21 is manufactured by a known covering processing machine using the elastic yarn 51 as a core yarn and the metal wire 52 as a sheath yarn.
  • the covering means that the metal wire 52 is wound around the elastic yarn 51 in the S direction or the Z direction.
  • the heating wire 21 in which the metal wire 52 is wound around the elastic yarn 51 is referred to as a single covering heating wire. Note that the metal wire 52 alone may be used as the heating wire 21.
  • FIG. 5 is a schematic diagram showing a net-like heating element 12 included in the actuator single wire 13 according to the embodiment.
  • the net-like heating element 12 can be formed of a plurality of heating wires 21a and 21b. It is desirable that the plurality of heating wires 21a and 21b intersect each other such that the heating element 12 has a net shape as a whole.
  • the net-like heating element 12 shown in FIGS. 2A and 5 is formed by assembling a plurality of heating wires 21a and 21b.
  • the heating element 12 may be formed by knitting a plurality of heating wires 21 or may be formed by weaving the plurality of heating wires 21.
  • each heating wire 21 is configured by covering the elastic yarn 51 with the metal wire 52 as a sheath yarn, and may have a coil (ie, spiral) shape.
  • Each heating wire 21 may have a thread shape.
  • FIG. 6 is a schematic diagram showing another example of the net-like heating element 12 according to the embodiment.
  • each heating wire 21 has a rectangular wave shape, and the plurality of heating wires 21 are knitted so as to form a net-like heating element 12.
  • the heating wire 21 knitted in this way may be wound around the outer surface of the actuator wire 11.
  • Each heating wire 21a, 21b may have a shape of an elongated plate (that is, a belt shape).
  • the plurality of heating wires 21 a and 21 b are woven so as to be spirally wound around the outer surface of the actuator wire 11.
  • the heating wires 21 a and 21 b woven in this way may be wound around the outer surface of the actuator wire 11.
  • FIG. 9A is a cross-sectional view showing another example of the actuator single wire 13 according to the embodiment.
  • a single actuator wire 13 shown in FIG. 9A is formed by one actuator wire 11 formed by one coiled polymer fiber 111 and three heating wires 21 provided around one actuator wire 11. ing. Around the actuator wire 11, three heating wires 21 are arranged evenly at almost equal angular intervals.
  • FIG. 9B is a cross-sectional view showing another example of the actuator single wire 13 according to the embodiment.
  • one actuator wire 11 is illustrated by one circle.
  • the actuator single wire 13 is formed by an actuator wire 11 formed by twisting two coiled polymer fibers and four heating wires 21 provided around the actuator wire 11.
  • four heating wires 21 are arranged evenly at almost equal angular intervals.
  • the plurality of heating wires 21 are evenly arranged around the actuator wire 11, whereby the actuator wire 11 can be heated more uniformly. As a result, a high contraction rate of the actuator band 1 can be realized.
  • the actuator band 1 includes a plurality of actuator single wires 13a and 13b.
  • the actuator band 1 shown in FIG. 1 has a group formed by a plurality of actuator single wires 13a and 13b intersecting each other.
  • the actuator band 1 is formed by a flat string of nine actuator single wires 13.
  • the actuator band 1 may be formed by a round string made of a plurality of single actuator wires 13.
  • a first connector 4a is provided at one end of the plurality of actuator single wires 13a and 13b.
  • the first connector 4 a is bonded to one end of the actuator band 1.
  • one end of the cylindrical heating element 12 is joined to one end of the plurality of actuator wires 11.
  • a second connector 4b is provided on the other end of the actuator band 1.
  • the second connector 4 b is bonded to the other end of the actuator band 1.
  • the other end of the cylindrical heating element 12 is joined to the other ends of the plurality of actuator wires 11.
  • the first connector 4a and the second connector 4b are electrically connected to the control device 5 via electric wires, respectively.
  • the first connector 4a and the second connector 4b are, for example, crimp terminals.
  • Examples of the crimp terminal include a fork crimp terminal and a ring crimp terminal.
  • the crimp terminal is preferably made of metal. Thereby, the heat from the heating element 12 can be dissipated by the first connector 4 a and the second connector 4 b, and burning at both ends of the actuator band 1 can be suppressed.
  • the control device 5 supplies electric power to the mesh heating element 12 and heats the mesh heating element 12.
  • the control device 5 may include a power source for supplying power to the mesh heating element 12.
  • the electric power supplied to the net-like heating element 12 is alternating current or direct current.
  • the control device 5 can further include a switch. While the switch is on, power is supplied to the net-like heating element 12. When the switch is off, power is not supplied to the net-like heating element 12.
  • the heating wire 21 is obtained using the elastic yarn 51 as a core yarn and the metal wire 52 as a sheath yarn.
  • the heating wire 21 is assembled around the side surface of the actuator wire 11 to obtain the actuator single wire 13 including the actuator wire 11 and the net-like heating element 12 covering the surface thereof.
  • the actuator single wire 13 is formed by a known string making machine.
  • the string making machine includes a bobbin and a pulley. From the bobbin, the actuator wire 11 to which tension is applied is supplied. The actuator wire 11 is guided by a pulley. Thereafter, the actuator wire 11 is wound together with the plurality of heating wires 21 while the plurality of heating wires 21 are supplied around the side surface of the actuator wire 11 via the wavy track and the spindle. In this way, an actuator single wire 13 including the actuator wire 11 and the net-like heating element 12 covering the side surface thereof is obtained.
  • the actuator single wire 13 formed by the above method is wound around a bobbin.
  • the actuator band 1 can also be produced by “knitting” or “weaving” the actuator single wire 13, for example.
  • the actuator band 1 may be formed by a round stringing machine.
  • a flat string is composed of a plurality of wires using an odd number of bobbins
  • a round string is composed of a plurality of wires using an even number of bobbins.
  • the odd number of bobbins may include empty bobbins.
  • the even number of bobbins may include empty bobbins.
  • the actuator band 1 is cut to a desired length.
  • the length along the first axis x1 direction from one end of the actuator band 1 to the other end is longer than the length (width) in the second axis x2 direction orthogonal to the first axis x1 direction.
  • the actuator band 1 is cut (see FIG. 10). That is, the first axis x1 direction is the longitudinal direction of the actuator band 1, and the second axis x2 direction is the short direction of the actuator band 1.
  • the first connector 4a and the second connector 4b are attached to both ends of the actuator band 1 cut to a desired length. Thereby, the actuator member 68 is assembled. Each of the first connector 4a and the second connector 4b is electrically connected to the control device 5 via an electric wire. In this way, the actuator device 60 is manufactured.
  • a weight 6 is connected to the second connector 4 b on one end side of the actuator band 1 via an electric wire W. Due to the weight 6, the actuator band 1 is given a predetermined tension and is in a tensioned state. In other words, a tension along the first axis x1 direction is applied to the actuator band 1 by the weight 6.
  • FIG. 10 is a schematic diagram showing the actuator band 1 according to the embodiment.
  • FIG. 11A is a diagram illustrating a state in which the actuator band 1 according to the embodiment is not heated
  • FIG. 11B is a diagram illustrating a state in which the actuator band 1 is heated.
  • the actuator band 1 when an initial tension is applied in a state where the actuator band 1 is not heated, the actuator band 1 has a substantially rhombus shape whose group is long in the direction of the first axis x1 of the actuator band 1 as shown in FIG. And become stretched. At this time, the length of the actuator band 1 in the first axis x1 direction is L0 (see FIG. 11A).
  • the plurality of actuator single wires 13a and 13b intersect with each other to form a set. Specifically, the axis A1 along the actuator single line 13a is inclined at an angle ⁇ 1 with respect to the first axis x1, and the axis A2 along the actuator single line 13b is inclined at an angle ⁇ 2 with respect to the first axis x1.
  • the crossing angle straddling the first axis x1 is ( ⁇ 1 + ⁇ 2)
  • the crossing angle straddling the second axis x2 is (180 ° ⁇ 1 ⁇ ⁇ 2).
  • the initial tension applied along the first axis x1 direction of the actuator band 1 is along the axis A1 along the actuator single wire 13a and the actuator single wire 13b.
  • the initial tension distributed along the direction parallel to each of the axes A2 and applied to each actuator single line 13a, 13b is averaged.
  • the initial tension is applied to the actuator single wires 13a and 13b almost uniformly.
  • the actuator wire 11 contracts due to thermal strain, and the set of the actuator band 1 is deformed.
  • the intersection angle straddling the first axis x1 is larger than the aforementioned intersection angle ( ⁇ 1 + ⁇ 2), and the intersection angle straddling the second axis x2 is greater than the aforementioned intersection angle (180 ° ⁇ 1 ⁇ 2).
  • the set is deformed so as to be smaller.
  • the length of the actuator band 1 is shortened along the direction of the first axis x1.
  • the length of the actuator band 1 in the first axis x1 direction is L1 ( ⁇ L0).
  • the actuator band 1 expands and contracts due to the deformation of the set, the movement of expansion and contraction is not hindered at the point where the actuator single wires 13a and 13b intersect each other. This effect can be obtained even when the fabric of the actuator band 1 is a stitch or a weave.
  • the heating wires 21a and 21b have small rigidity and elasticity.
  • the present inventors obtained a coiled polymer fiber 111.
  • the inventors twisted two coiled polymer fibers 111 to obtain an actuator wire 11.
  • the actuator wire 11 is composed of two coiled polymer fibers 111 twisted together. In other words, the side surface of one twisted coiled polymer fiber 111a is in contact with the side surface of another twisted coiled polymer fiber 111b.
  • the inventors used a string making machine to coat the side surface of the actuator wire 11 with a net-like heating element 12 composed of four heating wires 21 to obtain a single actuator wire 13.
  • the inventors of the present invention performed a flat string using nine actuator single wires 13 to obtain an actuator band 1. Then, the actuator band 1 was cut to obtain an actuator band 1 having a length of about 70 mm.
  • the metal first connector 4 a was joined to one end of the actuator band 1 using a caulking tool. Similarly, the metal second connector 4 b was bonded to the other end of the actuator band 1. In this way, the inventors obtained the actuator member 68. And the heating test was done with respect to the actuator band 1, and the expansion-contraction state of the actuator band 1 was observed.
  • FIG. 12 is a schematic diagram of a test apparatus 100 used for the heating test.
  • the test apparatus 100 includes a fixed plate 7, a pulley 31, a mirror 32, a radiation thermometer 15, and a laser displacement meter 14.
  • the first connector 4 a was fixed using a fixing plate 7.
  • the pulley 31 is a pulley that guides the electric wire W attached to the second connector 4 b on the other end side of the actuator band 1.
  • the actuator band 1 is arranged substantially horizontally by the fixing plate 7 and the pulley 31.
  • a weight 6 of 500 g is attached to the electric wire W. Due to the initial tension by the weight 6, the actuator band 1 is extended (see, for example, FIG. 11A).
  • the second connector 4b of the actuator band 1 is movable along the direction of the first axis x1 based on the expansion and contraction of the actuator band 1.
  • the mirror 32 is attached to the second connector 4b of the actuator band 1, and moves in the first axis x1 direction in conjunction with the movement of the second connector 4b.
  • the mirror surface of the mirror 32 is provided along a direction orthogonal to the first axis x1, and the laser displacement meter 14 is disposed at a position facing the mirror surface of the mirror 32.
  • a trade name “LK-080” manufactured by Keyence Corporation was used as the laser displacement meter 14, a trade name “LK-080” manufactured by Keyence Corporation was used.
  • the laser displacement meter 14 measures the displacement of the second connector 4b by irradiating the mirror 32 with laser light and detecting the laser light reflected by the mirror 32. That is, the laser displacement meter 14 measures the displacement of the actuator band 1.
  • the radiation thermometer 15 is disposed at a position where infrared or visible light emitted from the actuator band 1 can be detected, and measures the temperature of the actuator band 1 based on the detected infrared or visible light.
  • a product name “FSV-210” manufactured by Apiste was used as the radiation thermometer 15 .
  • the inventors of the present invention supplied a current of 420 mA and a power of 1 W to the mesh heating element 12 using the control device 5 for 30 seconds. At this time, the temperature of the side surface of the actuator band 1 reached approximately 70 degrees Celsius. By this heating, the actuator band 1 contracted in the first axis x1 direction. Thereafter, the supply of power to the mesh heating element 12 was stopped, and a cooling time of 90 seconds was provided. In this way, the actuator band 1 was naturally cooled until the side surface of the actuator band 1 became 30 degrees Celsius or less.
  • the actuator band 1 was extended and restored in the direction of the first axis x1 by this heat radiation. As the actuator band 1 contracted and restored, the mirror 32 repeatedly moved in the longitudinal direction of the actuator band 1. The movement of the actuator band 1 was measured by measuring this movement using the laser displacement meter 14.
  • Table 1 shows the load per actuator single line 13 (M1) and the contraction amount and contraction rate (C) of the actuator band 1 when heating and cooling are repeated three times.
  • the shrinkage rate (C) is defined by the following mathematical formula (IA).
  • L0 indicates the length of the actuator band 1 to which initial tension (initial load) is applied before heating, that is, the length of the actuator band during cooling
  • L1 indicates the length of the actuator band 1 during heating.
  • Table 1 shows the degree of contraction (C / M1) in a unit load obtained by dividing the contraction rate (C) by the load per actuator single wire 13 (M1).
  • the degree of shrinkage (C / M1) at the unit load is a value representing the shrinkage rate by the unit load so that the calculated shrinkage rate C can be compared, and it is preferably as large as possible.
  • This degree of shrinkage (C / M1) has a correlation with the ratio of shrinkage to the initial tension.
  • the actuator single wire 13 may be referred to as a “single wire”.
  • the shrinkage rate (C) was the largest when the load (M1) per single wire was 44.4 g, and the maximum shrinkage rate (C) was 7.7%. Further, the degree of shrinkage (C / M1) was the largest when the load per single wire (M1) was 33.3 g, and the maximum degree of shrinkage (C / M1) was 0.22.
  • Comparative Example 1 an actuator band 501 in which five actuator single wires 13 are arranged in parallel with an interval between them is used.
  • the actuator device 500 of Comparative Example 1 one end of the actuator single wire 13 having a length of 120 mm was fixed to the band jig 120, and the other end of the actuator single wire 13 was fixed to the band jig 121.
  • One end and the other end of the actuator single wire 13 were connected to the control device 5 by conducting wires provided on the band jigs 120 and 121.
  • An initial tension was applied to the actuator single wire 13 using the weight 6.
  • 150 g of weight 6 and 200 g of weight 6 were used, respectively.
  • the controller 5 was supplied with a current of 158 mA and a power of 0.8 W for 90 seconds to the net-like heating element 12 to heat the five actuator single wires 13. At this time, the temperature of the side surface of the actuator single wire 13 reached approximately 70 degrees Celsius. Thereafter, the supply of power to the net-like heating element 12 was stopped, and a cooling time of 90 seconds was provided. In this way, the actuator was naturally cooled until the side surface of the actuator single wire 13 became 30 degrees Celsius or less. The temperature of the single actuator wire 13 arranged at the center among the five single actuator wires 13 was monitored.
  • Table 2 shows the load per actuator single wire 13 (M1), the contraction amount and contraction rate (C) of the actuator band 501 for the third heating and cooling, and the contraction degree (C / M1) per unit load. Show.
  • the shrinkage rate (C) was the largest when the load (M1) per single wire was 30 g, and the maximum shrinkage rate (C) was 3.1%.
  • the degree of shrinkage (C / M1) was the largest when the load per single wire (M1) was 30 g, and the maximum degree of shrinkage (C / M1) was 0.10.
  • the contraction degree (C / M1) of the actuator band 501 of the comparative example 1 is smaller than the contraction degree (C / M1) of the actuator band 501 of the present embodiment. This is probably because a uniform load was not applied to all of the five actuator single wires 13 and the temperature of the five actuator single wires 13 was not uniform.
  • the actuator band 1 is formed by assembling the actuator single wires 13 so as to intersect each other. For this reason, a uniform load is easily applied to the actuator band 1, and the entire temperature of the actuator band 1 is easily made uniform. Thereby, the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be obtained.
  • an actuator member was produced in the same manner as in the Example, except that an actuator band (not shown) having only one actuator single wire 13 was used.
  • the length of the actuator single wire 13 was about 50 mm.
  • a weight 6 and a 50 g weight 6 were used.
  • a current of 110 mA and a power of 0.34 W were supplied to the mesh heating element 12 for 10 seconds to heat the actuator single wire 13.
  • the temperature of the side surface of the actuator single wire 13 reached approximately 70 degrees Celsius.
  • the supply of power to the net-like heating element 12 was stopped, and a cooling time of 30 seconds was provided. In this way, the actuator was naturally cooled until the side surface of the actuator single wire 13 became 30 degrees Celsius or less.
  • Table 3 shows the load per actuator single wire 13 (M1), the contraction amount and contraction rate (C) of the actuator band when heating and cooling are repeated three times, and the contraction degree (C / M1).
  • the contraction rate (C) is the largest when the load (M1) per single wire is 50 g, and the maximum contraction rate (C) is 7. It was 6%.
  • the degree of shrinkage (C / M1) was the largest when the load (M1) per single wire was 40 g, and the maximum degree of shrinkage (C / M1) was 0.18.
  • the actuator band 1 of this example has the same contraction rate C and contraction degree (C / M1) as compared with the single actuator wire 13 of Comparative Example 2. Yes.
  • the displacement direction displaced by heating and cooling one actuator single line 13 as in Comparative Example 2 is a direction along the longitudinal direction of the single actuator line 13. Therefore, when the actuator single wire 13 is disposed at an angle ⁇ 1 (FIG. 10) with respect to the first axis x1 as in this embodiment, the displacement amount of the actuator band 1 in the first axis x1 direction is (the axis of the actuator single wire). It is normally considered that the displacement is reduced by (displacement in the A1 direction) ⁇ (1 ⁇ cos ⁇ 1).
  • the contraction rate C and the contraction degree (C / M1) are equivalent to the case of the single actuator wire 13. This is presumably because the actuator band 1 has a structure in which tension is applied in the direction of the first axis x1 in a state where a plurality of single actuator wires 13 are assembled to intersect.
  • the present invention can be applied to an actuator device used as an artificial muscle.
  • the actuator device 60 includes the actuator band 1. And the control device 5, wherein the actuator band 1 includes a plurality of single actuator wires 13, and the plurality of single actuator wires 13 are assembled, knitted, or woven. One end of each of the plurality of single actuator wires 13 is joined to the other end of each of the plurality of single actuator wires 13, and each of the plurality of single actuator wires 13 covers the actuator wire 11 and the side surface of the actuator wire 11.
  • the actuator wire 11 is formed of a polymer fiber (coiled polymer fiber) 111, and the fiber 111 extends around the long axis thereof.
  • Twisted, fiber 111 is folded to have the shape of a cylindrical coil and
  • the heater wire 11 is shrunk by heating and restored by heat dissipation, and one end of the mesh heating element 12 is joined to one end of the actuator wire 11, and the other end of the mesh heating element 12 is the other end of the actuator wire 11.
  • the control device 5 is used to supply power for heating the mesh heating element 12 to the mesh heating element 12, and the actuator band 1 has a tension along its longitudinal direction. By being heated in the applied state, it contracts along the longitudinal direction.
  • the actuator band 1 which concerns on embodiment is the actuator band 1 which comprises the several actuator single wire 13, Comprising: The several actuator single wire 13 is assembled
  • the actuator wire 11 is formed of a polymer fiber 111, and the fiber 111 is twisted around its long axis, and includes a net-like heating element 12 having a plurality of heating wires 21.
  • the fiber 111 is folded so as to have a cylindrical coil shape.
  • the data wire 11 is contracted by heating and restored by heat dissipation.
  • One end of the net-like heating element 12 is joined to one end of the actuator wire 11, and the other end of the net-like heating element 12 is connected to the other end of the actuator wire 11. It is joined to the end.
  • the manufacture of the actuator band 1 is a method for manufacturing the actuator band 1 and includes the following steps.
  • B) A net-like heating element 12 is provided on the side surface of the actuator wire 11 to provide an actuator.
  • a plurality of actuator single wires 13 are assembled, knitted, or woven to form the actuator band 1, so that, for example, a plurality of actuator single wires 13 are arranged at intervals in parallel to form an actuator band.
  • the actuator band 1 having a large ratio of the contraction rate to the initial tension can be provided.
  • the plurality of actuator single wires may intersect each other.
  • the actuator band 1 is formed so that the plurality of actuator single wires 13 intersect with each other, for example, compared to the case where the actuator bands are formed by arranging the plurality of actuator single wires 13 in parallel without intersecting.
  • the actuator band 1 having a large ratio of the contraction rate to the initial tension can be provided.
  • each of the plurality of heating wires 21 includes a non-conductive elastic yarn 51 and a metal wire 52, and the metal wire 52 may be wound around the elastic yarn 51 in a spiral shape.
  • the heating wire 21 in which the metal wire 52 is wound around the elastic yarn 51 is used, the contact area between the metal wire 52 and the actuator wire 11 can be increased, and the thermal efficiency can be increased. .
  • the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be provided.
  • each of the plurality of heating wires 21 may be spirally wound around the side surface of the actuator wire 11, and the plurality of heating wires 21 may be assembled so as to form a net-like heating element 12.
  • the net-like heating element 12 can be brought into close contact with the actuator wire 11, and the thermal efficiency can be improved.
  • the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be provided.
  • a plurality of heating wires 21 may be assembled clockwise.
  • the heating wire 21 can be made difficult to come off from the actuator wire 11.
  • a plurality of heating wires 21 may be assembled counterclockwise.
  • the heating wire 21 can be made difficult to come off from the actuator wire 11.
  • each of the plurality of heating wires 21 has a rectangular wave shape, and the plurality of heating wires 21 having the rectangular wave shape may be knitted so as to form a net-like heating element 12. Good.
  • the net-like heating element 12 can be brought into close contact with the actuator wire 11, and the thermal efficiency can be improved.
  • the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be provided.
  • each of the plurality of heating wires 21 may be woven around the side surface of the actuator wire 11 in a spiral manner, and the plurality of heating wires 21 may be woven so as to form a net-like heating element 12.
  • the net-like heating element 12 can be brought into close contact with the actuator wire 11, and the thermal efficiency can be improved.
  • the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be provided.
  • the fiber 111 is made of linear low-density polyethylene and satisfies the following formula (I).
  • D represents the average diameter of the cylindrical coil
  • d represents the diameter of the fiber
  • first connector 4a and the second connector 4b are provided, and a plurality of actuator single wires 13 are provided. Are connected to each other by the first connector 4a, the other ends of the plurality of actuator single wires 13 are connected to each other by the second connector 4b, and one end of the net-like heating element 12 is connected to the first connector. The other end of the net-like heating element may be joined to the other end of the actuator wire 11 by the second joining tool 4b.
  • one end of the plurality of heating wires 21 and the plurality of actuator wires 11 is joined by the first joining tool 4a, and the other ends of the plurality of heating wires 21 and the plurality of actuator wires 11 are joined by the second joining tool 4b.
  • the first joint 4a and the second joint 4b are made of metal, heat from the heating wire 21 can be radiated by the first joint 4a and the second joint 4b, and the actuator band 1 Burnout at both ends can be suppressed.
  • the net-like heating element 12 is a braid
  • the net-like heating element may be a woven fabric or a knitted fabric.
  • the case where the length along the 1st axial direction from the one end of the actuator band 1 to the other end is longer than the length (width) of the 2nd axial direction orthogonal to a 1st axial direction.
  • the width may be greater than or equal to the length in the first axial direction.
  • the embodiment can be realized by arbitrarily combining the components and functions in each embodiment without departing from the scope of the present invention, or a form obtained by subjecting each embodiment to various modifications conceived by those skilled in the art. Forms are also included in the present invention.

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Abstract

The present disclosure provides an actuator device having a large contraction rate proportion to an initial tension. The actuator device (60) according to the present disclosure is provided with an actuator band (1) and a control device (5). The actuator band (1) is formed by assembling, knitting, or weaving a plurality of actuator single wires (13). The plurality of actuator single wires (13) are each provided with an actuator wire (11) and a net-like heat generator (12) coated on a side of the actuator wire (11). The actuator wire (11) is formed of a polymer fiber (111), wherein the fiber (111) is twisted along the perimeter of the long axis thereof and folded so as to have a cylindrical coil shape. The control device (5) supplies power for heating the net-like heat generator (12). The actuator band (1) is heated, thereby contracting along the longitudinal direction.

Description

アクチュエータ装置、アクチュエータバンド及びアクチュエータバンドの製造方法Actuator device, actuator band, and method of manufacturing actuator band
　本発明は、アクチュエータ装置、アクチュエータバンド及びアクチュエータバンドの製造方法に関する。 The present invention relates to an actuator device, an actuator band, and a method for manufacturing the actuator band.
　特許文献１は、コイル状及び非コイル状ナノファイバー撚糸、ポリマーファイバーのねじり及び引張アクチュエータを開示している。平岡牧らは、非特許文献１及び２において、直鎖状低密度ポリエチレンから形成されているコイル状ポリマー繊維を開示している。非特許文献１及び２によれば、当該コイル状ポリマー繊維は、加熱により縮み、かつ放熱により復元する。特許文献２は、軸方向に収縮可能なアクチュエータを開示している。また、特許文献１は、コイル状ポリマー繊維を複数並べて任意の発生力を得る例を開示している。 Patent Document 1 discloses coiled and non-coiled nanofiber twisted yarn, polymer fiber twist and tension actuator. Non-patent Documents 1 and 2 disclose coiled polymer fibers formed from linear low density polyethylene. According to Non-Patent Documents 1 and 2, the coiled polymer fiber is shrunk by heating and restored by heat dissipation. Patent Document 2 discloses an actuator that can contract in the axial direction. Patent Document 1 discloses an example in which a plurality of coiled polymer fibers are arranged to obtain an arbitrary generated force.
国際公開第２０１４／０２２６６７号International Publication No. 2014/022667 米国特許第４７３３６０３号明細書US Pat. No. 4,733,603 特許第６１１１４３８号公報Japanese Patent No. 6111438 特開２００７－１６３２７号公報JP 2007-16327 A
　１本のコイル状ポリマー繊維の収縮による仕事量には上限がある。そこで、複数のコイル状ポリマー繊維を並べて複合化することにより、アクチュエータ装置として必要な仕事量を得る場合がある。 ¡There is an upper limit to the amount of work due to shrinkage of one coiled polymer fiber. Therefore, there is a case where a work amount necessary for the actuator device is obtained by arranging a plurality of coiled polymer fibers in a composite manner.
　例えば、複数のコイル状ポリマー繊維を複合化して互いに重ねた場合、繊維同士の摩擦や絡まりによって動きを束縛されるなどのロスが発生することがある。 For example, when a plurality of coiled polymer fibers are combined and overlapped with each other, a loss such as a movement being restricted by friction or entanglement between the fibers may occur.
　また、複数のコイル状ポリマー繊維には適切な初期張力を等しく印加し、かつ適切な熱を等しく印加する必要があるが、それらが不均一な場合、アクチュエータ装置の仕事量などが低下する。特に、初期張力が印加される方向は、コイル状ポリマー繊維が収縮する方向と逆であるので、初期張力によってコイル状ポリマー繊維の収縮による仕事量のロスが生じる。したがって、一定の収縮率でコイル状ポリマー繊維を加熱により収縮させる場合、初期張力は小さいほど好ましい。 In addition, it is necessary to apply an appropriate initial tension equally to a plurality of coiled polymer fibers and to apply an appropriate heat equally. However, when they are not uniform, the work load of the actuator device is reduced. In particular, since the direction in which the initial tension is applied is opposite to the direction in which the coiled polymer fiber contracts, the initial tension causes a work loss due to the contraction of the coiled polymer fiber. Therefore, when the coiled polymer fiber is contracted by heating at a constant contraction rate, it is preferable that the initial tension is as small as possible.
　一方で、アクチュエータ装置の仕事量を増やすためには、コイル状ポリマー繊維、すなわち高分子からなる繊維の収縮率は大きいほど好ましい。 On the other hand, in order to increase the work amount of the actuator device, it is preferable that the contraction rate of the coiled polymer fiber, that is, the fiber made of polymer is larger.
　本発明の目的は、初期張力に対する収縮率の割合が大きいアクチュエータ装置、アクチュエータバンド及びアクチュエータバンドの製造方法を提供することである。 An object of the present invention is to provide an actuator device, an actuator band, and a method for manufacturing the actuator band that have a large ratio of contraction rate to initial tension.
　上記課題を解決するために、本発明の一態様に係るアクチュエータ装置は、アクチュエータバンド、および制御装置を具備し、ここで、前記アクチュエータバンドは、複数のアクチュエータ単線を具備し、前記複数のアクチュエータ単線は、組まれ、編まれ、または織られており、前記複数のアクチュエータ単線の一端は、互いに接合されており、前記複数のアクチュエータ単線の他端は、互いに接合されており、前記複数のアクチュエータ単線の各々は、アクチュエータワイヤ、および前記アクチュエータワイヤの側面を被覆しかつ複数の電熱線を具備する網状の発熱体、を具備し、前記アクチュエータワイヤは、高分子からなる繊維から形成され、前記繊維は、その長軸の周りに沿って捩られており、前記繊維は、円筒状のコイルの形状を有するように折りたたまれており、前記アクチュエータワイヤは、加熱により縮み、かつ放熱により復元し、前記網状の発熱体の一端は、前記アクチュエータワイヤの一端に接合されており、前記網状の発熱体の他端は、前記アクチュエータワイヤの他端に接合されており、前記制御装置は、前記網状の発熱体を加熱するための電力を前記網状の発熱体に供給するために用いられ、かつ前記アクチュエータバンドは、その長手方向に沿って張力が印加された状態で加熱されることにより、前記長手方向に沿って収縮する。 In order to solve the above problem, an actuator device according to an aspect of the present invention includes an actuator band and a control device, wherein the actuator band includes a plurality of actuator single wires, and the plurality of actuator single wires. Are assembled, knitted or woven, one end of the plurality of actuator single wires is joined to each other, the other end of the plurality of actuator single wires is joined to each other, and the plurality of actuator single wires Each of which includes an actuator wire and a net-like heating element that covers a side surface of the actuator wire and includes a plurality of heating wires, and the actuator wire is formed from a fiber made of a polymer, Twisted along its long axis, the fiber being in the form of a cylindrical coil The actuator wire is contracted by heating and restored by heat dissipation, and one end of the mesh heating element is joined to one end of the actuator wire, and the mesh heating element The other end is joined to the other end of the actuator wire, and the control device is used to supply electric power for heating the mesh heating element to the mesh heating element, and the actuator band Is contracted along the longitudinal direction by being heated in a state in which tension is applied along the longitudinal direction.
　また、本発明の一態様に係るアクチュエータバンドは、複数のアクチュエータ単線を具備するアクチュエータバンドであって、前記複数のアクチュエータ単線は、組まれ、編まれ、または織られており、前記複数のアクチュエータ単線の一端は、互いに接合されており、前記複数のアクチュエータ単線の他端は、互いに接合されており、前記複数のアクチュエータ単線の各々は、アクチュエータワイヤ、および前記アクチュエータワイヤの側面を被覆し、かつ複数の電熱線を具備する網状の発熱体を具備し、前記アクチュエータワイヤは、高分子からなる繊維から形成され、前記繊維は、その長軸の周りに沿って捩られており、前記繊維は、円筒状のコイルの形状を有するように折りたたまれており、前記アクチュエータワイヤは、加熱により縮み、かつ放熱により復元し、前記網状の発熱体の一端は、前記アクチュエータワイヤの一端に接合されており、かつ前記網状の発熱体の他端は、前記アクチュエータワイヤの他端に接合されている。 The actuator band according to one embodiment of the present invention is an actuator band including a plurality of single actuator wires, and the plurality of single actuator wires are assembled, knitted, or woven. One end of each of the plurality of actuator single wires is joined to each other, and each of the plurality of actuator single wires covers an actuator wire and a side surface of the actuator wire, and The actuator wire is formed of a polymer fiber, and the fiber is twisted around its long axis, and the fiber is a cylinder. Folded to have a coil shape, the actuator wire is heated The one end of the mesh heating element is joined to one end of the actuator wire, and the other end of the mesh heating element is joined to the other end of the actuator wire. Yes.
　また、本発明の一態様に係るアクチュエータバンドの製造方法は、以下の工程を具備する。（ａ）加熱により縮み、かつ放熱により復元するアクチュエータワイヤを形成する工程、ここで、前記アクチュエータワイヤは、高分子からなる複数の繊維が互いに撚られることで形成され、前記繊維は、その長軸の周りに沿って捩られており、かつ前記繊維は、円筒状のコイルの形状を有するように折りたたまれており、（ｂ）前記アクチュエータワイヤの側面に網状の発熱体を設けてアクチュエータ単線を得る工程、かつ（ｃ）複数の前記アクチュエータ単線を組んで、編んで、または織って、前記アクチュエータバンドを得る工程。 The actuator band manufacturing method according to an aspect of the present invention includes the following steps. (A) a step of forming an actuator wire that is shrunk by heating and restored by heat dissipation, wherein the actuator wire is formed by twisting a plurality of fibers made of a polymer, and the fiber has its long axis And the fiber is folded so as to have the shape of a cylindrical coil. (B) A net-like heating element is provided on the side surface of the actuator wire to obtain a single actuator wire. And (c) assembling, knitting or weaving a plurality of the single actuator wires to obtain the actuator band.
　本発明は、初期張力に対する収縮率の割合が大きいアクチュエータ装置、アクチュエータバンド及びアクチュエータバンドの製造方法を提供する。 The present invention provides an actuator device, an actuator band, and a method for manufacturing the actuator band having a large ratio of contraction rate to initial tension.
実施形態に係るアクチュエータ装置を示す模式図である。It is a mimetic diagram showing an actuator device concerning an embodiment. 実施の形態に係るアクチュエータ単線を示す模式図である。It is a schematic diagram which shows the actuator single line which concerns on embodiment. 実施の形態に係るアクチュエータ単線の断面図である。It is sectional drawing of the actuator single line which concerns on embodiment. 実施の形態に係るアクチュエータワイヤを示す模式図である。It is a schematic diagram which shows the actuator wire which concerns on embodiment. 実施の形態に係る電熱線を示す断面図である。It is sectional drawing which shows the heating wire which concerns on embodiment. 実施の形態に係るアクチュエータ単線が備える網状の発熱体を示す模式図である。It is a schematic diagram which shows the net-like heat generating body with which the actuator single line which concerns on embodiment is provided. 実施の形態に係る網状の発熱体の他の一例を示す模式図である。It is a schematic diagram which shows another example of the net-like heat generating body which concerns on embodiment. 実施の形態に係る網状の発熱体の他の一例を示す模式図である。It is a schematic diagram which shows another example of the net-like heat generating body which concerns on embodiment. 実施の形態に係る網状の発熱体の他の一例を示す模式図である。It is a schematic diagram which shows another example of the net-like heat generating body which concerns on embodiment. 実施の形態に係るアクチュエータ単線の他の一例を示す断面図である。It is sectional drawing which shows another example of the actuator single line which concerns on embodiment. 実施の形態に係るアクチュエータ単線の他の一例を示す断面図である。It is sectional drawing which shows another example of the actuator single line which concerns on embodiment. 実施の形態に係るアクチュエータバンドを示す模式図である。It is a schematic diagram which shows the actuator band which concerns on embodiment. 実施の形態に係るアクチュエータバンドが加熱されていない状態を示す図である。It is a figure which shows the state by which the actuator band which concerns on embodiment is not heated. 実施の形態に係るアクチュエータバンドが加熱されている状態を示す図である。It is a figure which shows the state by which the actuator band which concerns on embodiment is heated. 加熱試験に用いられる試験装置の模式図である。It is a schematic diagram of the testing apparatus used for a heating test. 比較例１に係るアクチュエータ装置を示す模式図である。6 is a schematic diagram showing an actuator device according to Comparative Example 1. FIG.
　以下、本発明の実施形態が図面を参照しながら詳細に説明される。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
　図１は、実施形態に係るアクチュエータ装置を示す模式図である。図１に示すように、実施形態によるアクチュエータ装置６０は、アクチュエータバンド１および制御装置５を具備している。アクチュエータバンド１は、複数のアクチュエータ単線１３ａ、１３ｂを具備している。以下、アクチュエータ装置６０について説明する。 FIG. 1 is a schematic diagram showing an actuator device according to an embodiment. As shown in FIG. 1, the actuator device 60 according to the embodiment includes an actuator band 1 and a control device 5. The actuator band 1 includes a plurality of actuator single wires 13a and 13b. Hereinafter, the actuator device 60 will be described.
　［アクチュエータ単線］
　図２Ａは、実施の形態に係るアクチュエータ単線１３ａ、１３ｂを示す模式図である。図２Ｂは、実施の形態に係るアクチュエータ単線１３ａ、１３ｂの断面図である。図２Ｂは、図２Ａに示す２Ｂ－２Ｂ線を含む切断面を見た断面図である。図２Ａおよび図２Ｂに示すように、アクチュエータ単線１３ａ、１３ｂは、２本のコイル状ポリマー繊維１１１ａ、１１１ｂが互いに撚り合わされることで形成されたアクチュエータワイヤ１１と、アクチュエータワイヤ１１の側面に設けられた網状の発熱体１２とを具備している。網状の発熱体１２は、複数の電熱線２１ａ、２１ｂによって形成されている。 [Actuator single wire]
FIG. 2A is a schematic diagram showing actuator single wires 13a and 13b according to the embodiment. FIG. 2B is a cross-sectional view of the actuator single wires 13a and 13b according to the embodiment. FIG. 2B is a cross-sectional view of the cut surface including the line 2B-2B shown in FIG. 2A. As shown in FIGS. 2A and 2B, the actuator single wires 13a and 13b are provided on the side surfaces of the actuator wire 11 and the actuator wire 11 formed by twisting two coiled polymer fibers 111a and 111b together. And a net-like heating element 12. The net-like heating element 12 is formed by a plurality of heating wires 21a and 21b.
　なお、以下、アクチュエータ単線１３ａ、１３ｂの双方を区別せずにアクチュエータ単線１３と呼び、電熱線２１ａ、２１ｂの双方を区別せずに電熱線２１と呼び、コイル状ポリマー繊維１１１ａ、１１１ｂの双方を区別せずにコイル状ポリマー繊維１１１と呼ぶ場合がある。 Hereinafter, the actuator single wires 13a and 13b are referred to as the actuator single wire 13 without distinction, the heating wires 21a and 21b are referred to as the heating wire 21 without distinction, and both the coiled polymer fibers 111a and 111b are referred to. The coiled polymer fiber 111 may be called without distinction.
　［アクチュエータワイヤ］
　アクチュエータワイヤ１１の詳細は、本特許出願に先行する特許文献３を参照されたい。特許文献３（すなわち、特許第６１１１４３８号公報）及び特許文献３に対応する米国特許出願公開２０１５／２４５１４５号明細書は、本願に参照として援用される。また、アクチュエータワイヤ１１については、非特許文献１に開示されている。 [Actuator wire]
For details of the actuator wire 11, refer to Patent Document 3 preceding the present patent application. U.S. Patent Application Publication No. 2015/245145 corresponding to Patent Literature 3 (i.e., Patent No. 6111438) and Patent Literature 3 are incorporated herein by reference. The actuator wire 11 is disclosed in Non-Patent Document 1.
　本明細書において用いられる用語「アクチュエータワイヤ１１」及び「発熱体１２」は、それぞれ、特許文献３において用いられる用語「繊維」および「温度調節装置」に対応する。 The terms “actuator wire 11” and “heating element 12” used in the present specification correspond to the terms “fiber” and “temperature control device” used in Patent Document 3, respectively.
　特許文献３に開示されているように、アクチュエータワイヤ１１は、直鎖状低密度ポリエチレンから形成されているコイル状ポリマー繊維１１１（図３参照）から構成され得る。アクチュエータワイヤ１１は、加熱により縮み、かつ放熱により復元する。 As disclosed in Patent Document 3, the actuator wire 11 can be composed of a coiled polymer fiber 111 (see FIG. 3) formed of linear low density polyethylene. The actuator wire 11 is contracted by heating and restored by heat dissipation.
　一例として、１０ＭＰａの加重をその一端に印加されたアクチュエータワイヤ１１が摂氏９０度に加熱されると、アクチュエータワイヤ１１は２３％ほど縮む。アクチュエータワイヤ１１が室温まで冷却されると、アクチュエータワイヤ１１は元の長さになるように復元する。特許文献３にも開示されているように、アクチュエータワイヤ１１は、例えば、摂氏３０度以上摂氏１００度以下の温度に加熱され得る。なお、コイル状ポリマー繊維１１１の材質は、直鎖状低密度ポリエチレンに限られず、異方性熱膨張特性がある高分子でもよい。 As an example, when the actuator wire 11 applied with a load of 10 MPa at one end thereof is heated to 90 degrees Celsius, the actuator wire 11 contracts by about 23%. When the actuator wire 11 is cooled to room temperature, the actuator wire 11 is restored to its original length. As disclosed in Patent Document 3, the actuator wire 11 can be heated to a temperature of, for example, 30 degrees Celsius or more and 100 degrees Celsius or less. The material of the coiled polymer fiber 111 is not limited to linear low density polyethylene, and may be a polymer having anisotropic thermal expansion characteristics.
　コイル状ポリマー繊維１１１の材質のその他の例は、ポリエチレン（例えば、低密度ポリエチレン、または、高密度ポリエチレン）、ナイロン（例えば、ナイロン６、ナイロン６，６、ナイロン１２）、ポリエステル、またはエラストマー（例えば、シリコンゴム）でもよい。 Other examples of the material of the coiled polymer fiber 111 include polyethylene (for example, low density polyethylene or high density polyethylene), nylon (for example, nylon 6, nylon 6, 6, nylon 12), polyester, or elastomer (for example, , Silicon rubber).
　図３は、実施の形態に係るアクチュエータワイヤ１１を示す模式図である。アクチュエータワイヤ１１は、少なくとも１本のコイル状ポリマー繊維１１１から構成され得る。例えば、図３では、アクチュエータワイヤ１１は、互いに撚り合わされるように一体化された２本のコイル状ポリマー繊維１１１ａ、１１１ｂから構成され得る。具体的には、アクチュエータワイヤ１１は、互いに長軸の周りに沿って捻られて撚り合わされた２本以上のコイル状ポリマー繊維１１１ａ、１１１ｂから構成され得る。言い換えれば、アクチュエータワイヤ１１は、捻られた１本のコイル状ポリマー繊維１１１ａの側面に、捻られた他のコイル状ポリマー繊維１１１ｂの側面が接するように、２本以上のコイル状ポリマー繊維１１１を捻ることで形成され得る。 FIG. 3 is a schematic diagram showing the actuator wire 11 according to the embodiment. The actuator wire 11 can be composed of at least one coiled polymer fiber 111. For example, in FIG. 3, the actuator wire 11 may be composed of two coiled polymer fibers 111a and 111b integrated so as to be twisted together. Specifically, the actuator wire 11 may be composed of two or more coiled polymer fibers 111a and 111b that are twisted and twisted around the major axis. In other words, the actuator wire 11 includes two or more coiled polymer fibers 111 such that the side surface of one twisted coiled polymer fiber 111a is in contact with the side surface of another twisted coiled polymer fiber 111b. It can be formed by twisting.
　なお、コイル状ポリマー繊維１１１は、長軸の周りに沿って捻られることで、円筒状のコイルの形状（螺旋状の形状）を有するように折りたたまれている。特許文献３にも記載されているように、コイル状ポリマー繊維１１１は、以下の式（Ｉ）を満たしている。 The coiled polymer fiber 111 is folded so as to have a cylindrical coil shape (spiral shape) by being twisted around the long axis. As described in Patent Document 3, the coiled polymer fiber 111 satisfies the following formula (I).
　Ｄ／ｄ＜１　　　（Ｉ） D / d <1 (I)
　ここで、Ｄは、コイル状ポリマー繊維１１１の円筒状のコイルの平均直径を表し、ｄはコイル状ポリマー繊維１１１の直径を表している。この関係性であるために、アクチュエータワイヤ１１の変位率を高くすることができる。平均直径Ｄは、円筒状のコイルの外径Ｄ１からコイル状ポリマー繊維１１１の直径ｄを減算することにより得られる。 Here, D represents the average diameter of the cylindrical coil of the coiled polymer fiber 111, and d represents the diameter of the coiled polymer fiber 111. Because of this relationship, the displacement rate of the actuator wire 11 can be increased. The average diameter D is obtained by subtracting the diameter d of the coiled polymer fiber 111 from the outer diameter D1 of the cylindrical coil.
　［網状の発熱体］
　図２Ａおよび図２Ｂに示すように、網状の発熱体１２は、アクチュエータワイヤ１１の側面を被覆している。網状の発熱体１２は、アクチュエータワイヤ１１を内部に含むように、筒状であることが望ましい。網状の発熱体１２は、複数の電熱線２１ａ、２１ｂから構成されている。網状の発熱体１２は、複数の電熱線２１ａ、２１ｂを組む、編む、または織ることによって、形成される。 [Reticulated heating element]
As shown in FIGS. 2A and 2B, the net-like heating element 12 covers the side surface of the actuator wire 11. The net-like heating element 12 is preferably cylindrical so as to include the actuator wire 11 therein. The net-like heating element 12 includes a plurality of heating wires 21a and 21b. The net-like heating element 12 is formed by assembling, knitting, or weaving a plurality of heating wires 21a and 21b.
　図４は、実施の形態に係る電熱線２１を示す断面図である。図４に示すように、電熱線２１は、芯糸となる非導電性の弾性糸５１と、弾性糸５１の周囲にカバーリングされた金属ワイヤ５２とを備えている。具体的には、電熱線２１は、弾性糸５１を芯糸、金属ワイヤ５２を鞘糸として、周知のカバーリング加工機によって製造される。ここでカバーリン
グとは、弾性糸５１に対して金属ワイヤ５２をＳ方向またはＺ方向に巻きつけることを言う。本実施の形態のように、金属ワイヤ５２が弾性糸５１に対して一重に巻かれている電熱線２１は、シングルカバーリング電熱線と称される。なお、金属ワイヤ５２単体を電熱線２１として用いてもよい。 FIG. 4 is a cross-sectional view showing the heating wire 21 according to the embodiment. As shown in FIG. 4, the heating wire 21 includes a non-conductive elastic yarn 51 serving as a core yarn, and a metal wire 52 covered around the elastic yarn 51. Specifically, the heating wire 21 is manufactured by a known covering processing machine using the elastic yarn 51 as a core yarn and the metal wire 52 as a sheath yarn. Here, the covering means that the metal wire 52 is wound around the elastic yarn 51 in the S direction or the Z direction. As in the present embodiment, the heating wire 21 in which the metal wire 52 is wound around the elastic yarn 51 is referred to as a single covering heating wire. Note that the metal wire 52 alone may be used as the heating wire 21.
　図５は、実施の形態に係るアクチュエータ単線１３が備える網状の発熱体１２を示す模式図である。図５に示すように、網状の発熱体１２は、複数の電熱線２１ａ、２１ｂから形成され得る。複数の電熱線２１ａ、２１ｂは、発熱体１２が全体として網の形状を有するように、互いに交差することが望ましい。例えば図２Ａおよび図５に示す網状の発熱体１２は、複数の電熱線２１ａ、２１ｂが組まれることで形成されている。なお、発熱体１２は、複数の電熱線２１が編まれることで形成されてもよいし、複数の電熱線２１が織られることで形成されていてもよい。 FIG. 5 is a schematic diagram showing a net-like heating element 12 included in the actuator single wire 13 according to the embodiment. As shown in FIG. 5, the net-like heating element 12 can be formed of a plurality of heating wires 21a and 21b. It is desirable that the plurality of heating wires 21a and 21b intersect each other such that the heating element 12 has a net shape as a whole. For example, the net-like heating element 12 shown in FIGS. 2A and 5 is formed by assembling a plurality of heating wires 21a and 21b. The heating element 12 may be formed by knitting a plurality of heating wires 21 or may be formed by weaving the plurality of heating wires 21.
　図５では、２本の電熱線２１ａおよび２本の電熱線２１ｂが、アクチュエータワイヤ１１の外側面に螺旋状に巻き付くように組まれ、アクチュエータワイヤ１１の外側面を被覆する網状の発熱体１２を構成している。例えば、電熱線２１ａは右回りに組まれ、電熱線２１ｂは左回りに組まれている。すなわち、電熱線２１ａおよび電熱線２１ｂは、アクチュエータワイヤ１１を中心として互いに逆回りとなるように組まれている。なお、発熱体１２は、３本以上の電熱線２１が組まれて構成されることが望ましい。各電熱線２１は、前述したように、それぞれ、弾性糸５１の周囲に、鞘糸として金属ワイヤ５２をカバーリングして構成され、コイル（すなわち、螺旋）の形状を有し得る。また、各電熱線２１は、糸の形状を有し得る。 In FIG. 5, two heating wires 21 a and two heating wires 21 b are assembled so as to be spirally wound around the outer surface of the actuator wire 11, and the net-like heating element 12 that covers the outer surface of the actuator wire 11. Is configured. For example, the heating wire 21a is assembled clockwise, and the heating wire 21b is assembled counterclockwise. In other words, the heating wire 21 a and the heating wire 21 b are assembled so as to be opposite to each other around the actuator wire 11. In addition, as for the heat generating body 12, it is desirable that 3 or more heating wires 21 are assembled. As described above, each heating wire 21 is configured by covering the elastic yarn 51 with the metal wire 52 as a sheath yarn, and may have a coil (ie, spiral) shape. Each heating wire 21 may have a thread shape.
　図６は、実施の形態に係る網状の発熱体１２の他の一例を示す模式図である。図６に示すように、各電熱線２１は矩形波状の形状を有し、複数の電熱線２１が、網状の発熱体１２を形成するように、編まれている。このように編まれた電熱線２１が、アクチュエータワイヤ１１の外側面に巻き付けられていてもよい。 FIG. 6 is a schematic diagram showing another example of the net-like heating element 12 according to the embodiment. As shown in FIG. 6, each heating wire 21 has a rectangular wave shape, and the plurality of heating wires 21 are knitted so as to form a net-like heating element 12. The heating wire 21 knitted in this way may be wound around the outer surface of the actuator wire 11.
　図７および図８は、実施の形態に係る網状の発熱体１２の他の一例を示す模式図である。各電熱線２１ａ、２１ｂは、細長い板（すなわち、帯状）の形状を有し得る。複数の電熱線２１ａ、２１ｂは、アクチュエータワイヤ１１の外側面に螺旋状に巻き付くように織られる。このように織られた電熱線２１ａ、２１ｂが、アクチュエータワイヤ１１の外側面に巻き付けられていてもよい。 7 and 8 are schematic views showing another example of the net-like heating element 12 according to the embodiment. Each heating wire 21a, 21b may have a shape of an elongated plate (that is, a belt shape). The plurality of heating wires 21 a and 21 b are woven so as to be spirally wound around the outer surface of the actuator wire 11. The heating wires 21 a and 21 b woven in this way may be wound around the outer surface of the actuator wire 11.
　図９Ａは、実施の形態に係るアクチュエータ単線１３の他の一例を示す断面図である。図９Ａに示すアクチュエータ単線１３は、１本のコイル状ポリマー繊維１１１によって形成されている一つのアクチュエータワイヤ１１と、一つのアクチュエータワイヤ１１の周囲に設けられた３本の電熱線２１とによって形成されている。アクチュエータワイヤ１１の周囲には、ほぼ等角度間隔で均等に３本の電熱線２１が配置されている。 FIG. 9A is a cross-sectional view showing another example of the actuator single wire 13 according to the embodiment. A single actuator wire 13 shown in FIG. 9A is formed by one actuator wire 11 formed by one coiled polymer fiber 111 and three heating wires 21 provided around one actuator wire 11. ing. Around the actuator wire 11, three heating wires 21 are arranged evenly at almost equal angular intervals.
　図９Ｂは、実施の形態に係るアクチュエータ単線１３の他の一例を示す断面図である。図９Ｂでは、便宜上、一つのアクチュエータワイヤ１１を一つの円で図示している。アクチュエータ単線１３は、２本のコイル状ポリマー繊維が互いに撚り合わされることで形成されたアクチュエータワイヤ１１と、アクチュエータワイヤ１１の周囲に設けられた４本の電熱線２１とによって形成されている。アクチュエータワイヤ１１の周囲には、ほぼ等角度間隔で均等に４本の電熱線２１が配置されている。 FIG. 9B is a cross-sectional view showing another example of the actuator single wire 13 according to the embodiment. In FIG. 9B, for convenience, one actuator wire 11 is illustrated by one circle. The actuator single wire 13 is formed by an actuator wire 11 formed by twisting two coiled polymer fibers and four heating wires 21 provided around the actuator wire 11. Around the actuator wire 11, four heating wires 21 are arranged evenly at almost equal angular intervals.
　図９Ａおよび図９Ｂに示すように、アクチュエータワイヤ１１の周囲に複数の電熱線２１が均等に配置されることで、アクチュエータワイヤ１１をより均一に加熱することができる。この結果、アクチュエータバンド１の高い収縮率を実現することができる。 As shown in FIGS. 9A and 9B, the plurality of heating wires 21 are evenly arranged around the actuator wire 11, whereby the actuator wire 11 can be heated more uniformly. As a result, a high contraction rate of the actuator band 1 can be realized.
　［アクチュエータバンド］
　図１に示すように、アクチュエータバンド１は、複数本のアクチュエータ単線１３ａ、１３ｂを具備する。図１に示すアクチュエータバンド１は、複数本のアクチュエータ単線１３ａ、１３ｂが互いに交差することで組目が形成されている。例えばアクチュエータバンド１は、９本のアクチュエータ単線１３の平打ち製紐によって形成される。なお、アクチュエータバンド１は、複数のアクチュエータ単線１３の丸打ち製紐によって形成されてもよい。 [Actuator band]
As shown in FIG. 1, the actuator band 1 includes a plurality of actuator single wires 13a and 13b. The actuator band 1 shown in FIG. 1 has a group formed by a plurality of actuator single wires 13a and 13b intersecting each other. For example, the actuator band 1 is formed by a flat string of nine actuator single wires 13. The actuator band 1 may be formed by a round string made of a plurality of single actuator wires 13.
　複数本のアクチュエータ単線１３ａ、１３ｂの一端には、第一接合具４ａが設けられている。この第一接合具４ａは、アクチュエータバンド１の一端に接合されている。この接合によって、筒状の発熱体１２の一端が、複数のアクチュエータワイヤ１１の一端に接合されている。アクチュエータバンド１の他端には、第二接合具４ｂが設けられている。この第二接合具４ｂは、アクチュエータバンド１の他端に接合されている。この接合によって、筒状の発熱体１２の他端が複数のアクチュエータワイヤ１１の他端に接合されている。第一接合具４ａおよび第二接合具４ｂは、それぞれ電線を介して制御装置５に電気的に接続されている。第一接合具４ａおよび第二接合具４ｂは、例えば圧着端子である。圧着端子としては、例えばフォーク圧着端子またはリング圧着端子が挙げられる。圧着端子は、金属製であることが望ましい。これにより、発熱体１２からの熱を第一接合具４ａおよび第二接合具４ｂで放熱することができ、アクチュエータバンド１の両端の焼損を抑制することができる。 A first connector 4a is provided at one end of the plurality of actuator single wires 13a and 13b. The first connector 4 a is bonded to one end of the actuator band 1. By this joining, one end of the cylindrical heating element 12 is joined to one end of the plurality of actuator wires 11. On the other end of the actuator band 1, a second connector 4b is provided. The second connector 4 b is bonded to the other end of the actuator band 1. By this joining, the other end of the cylindrical heating element 12 is joined to the other ends of the plurality of actuator wires 11. The first connector 4a and the second connector 4b are electrically connected to the control device 5 via electric wires, respectively. The first connector 4a and the second connector 4b are, for example, crimp terminals. Examples of the crimp terminal include a fork crimp terminal and a ring crimp terminal. The crimp terminal is preferably made of metal. Thereby, the heat from the heating element 12 can be dissipated by the first connector 4 a and the second connector 4 b, and burning at both ends of the actuator band 1 can be suppressed.
　［制御装置］
　制御装置５は、網状の発熱体１２に電力を供給し、網状の発熱体１２を加熱する。制御装置５は、網状の発熱体１２に電力を供給するための電源を具備し得る。網状の発熱体１２に供給される電力は、交流または直流である。制御装置５は、さらにスイッチを具備し得る。スイッチがオンである間には、網状の発熱体１２に電力が供給される。スイッチがオフである場合には、網状の発熱体１２に電力は供給されない。 [Control device]
The control device 5 supplies electric power to the mesh heating element 12 and heats the mesh heating element 12. The control device 5 may include a power source for supplying power to the mesh heating element 12. The electric power supplied to the net-like heating element 12 is alternating current or direct current. The control device 5 can further include a switch. While the switch is on, power is supplied to the net-like heating element 12. When the switch is off, power is not supplied to the net-like heating element 12.
　［アクチュエータバンドの製造方法］
　次にアクチュエータバンド１の製造方法について説明する。 [Manufacturing method of actuator band]
Next, a method for manufacturing the actuator band 1 will be described.
　まず、カバーリング加工機を用いて、弾性糸５１を芯糸とし、金属ワイヤ５２を鞘糸として電熱線２１を得る。 First, using a covering machine, the heating wire 21 is obtained using the elastic yarn 51 as a core yarn and the metal wire 52 as a sheath yarn.
　次に、アクチュエータワイヤ１１の側面の周りに電熱線２１を組み、アクチュエータワイヤ１１およびその表面を被覆する網状の発熱体１２を具備するアクチュエータ単線１３を得る。 Next, the heating wire 21 is assembled around the side surface of the actuator wire 11 to obtain the actuator single wire 13 including the actuator wire 11 and the net-like heating element 12 covering the surface thereof.
　アクチュエータ単線１３は、周知の製紐機によって形成される。製紐機は、ボビンおよび滑車を備えている。ボビンからは、張力が印加されたアクチュエータワイヤ１１が供給される。アクチュエータワイヤ１１は、滑車によりガイドされる。その後、波状軌道およびスピンドルを介してアクチュエータワイヤ１１の側面の周囲に複数の電熱線２１が供給されながら、アクチュエータワイヤ１１は複数の電熱線２１と共に巻き上げられる。このようにして、アクチュエータワイヤ１１と、その側面を被覆している網状の発熱体１２とを具備するアクチュエータ単線１３が得られる。上記方法により形成されたアクチュエータ単線１３は、ボビンに巻き取られる。 The actuator single wire 13 is formed by a known string making machine. The string making machine includes a bobbin and a pulley. From the bobbin, the actuator wire 11 to which tension is applied is supplied. The actuator wire 11 is guided by a pulley. Thereafter, the actuator wire 11 is wound together with the plurality of heating wires 21 while the plurality of heating wires 21 are supplied around the side surface of the actuator wire 11 via the wavy track and the spindle. In this way, an actuator single wire 13 including the actuator wire 11 and the net-like heating element 12 covering the side surface thereof is obtained. The actuator single wire 13 formed by the above method is wound around a bobbin.
　次に、周知の平打ち製紐機において、アクチュエータ単線１３が巻き取られた９本のボビンを用いて、９本のアクチュエータ単線１３を組み、アクチュエータバンド１を作製す
る。なお、アクチュエータバンド１は、アクチュエータ単線１３を、例えば、「編む」、または、「織る」ことによっても作製できる。なお、アクチュエータバンド１は、丸打ち製紐機で形成されてもよい。 Next, in a known flat stringing machine, nine actuator single wires 13 are assembled using nine bobbins around which the actuator single wire 13 is wound, and the actuator band 1 is manufactured. The actuator band 1 can also be produced by “knitting” or “weaving” the actuator single wire 13, for example. The actuator band 1 may be formed by a round stringing machine.
　一般に平打ち製紐では、奇数個のボビンを用いて複数の線材を帯状に組み、丸打ち製紐では、偶数個のボビンを用いて複数の線材を円筒状に組む。平打ち製紐において、奇数個のボビンは、空ボビンを含んでいてもよい。丸打ち製紐において、偶数個のボビンは、空ボビンを含んでいてもよい。空ボビンを加えることで、アクチュエータ装置６０として必要な仕事量に合わせてアクチュエータ単線１３の本数を選択することができる。空ボビンの代わりに、ダミーとなる糸が巻きつけられたボビンを用いて複数の線材を組むことも可能である。この場合、偏りがない組目、すなわち、均一な組目を形成できる。ダミーとなる線材はなるだけ細い方がよい。ダミーとなる線材が細いほど、ダミーとなる線材による、アクチュエータバンド１の仕事量のロスを小さくすることができる。 In general, a flat string is composed of a plurality of wires using an odd number of bobbins, and a round string is composed of a plurality of wires using an even number of bobbins. In the flat string, the odd number of bobbins may include empty bobbins. In the round string, the even number of bobbins may include empty bobbins. By adding empty bobbins, the number of actuator single wires 13 can be selected in accordance with the work required for the actuator device 60. It is also possible to assemble a plurality of wires using a bobbin around which a dummy yarn is wound instead of an empty bobbin. In this case, it is possible to form a uniform set, that is, a uniform set. The dummy wire should be as thin as possible. As the dummy wire becomes thinner, the work loss of the actuator band 1 due to the dummy wire can be reduced.
　その後、アクチュエータバンド１は、所望の長さに切断される。本実施の形態では、アクチュエータバンド１の一端から他端までの第一軸ｘ１方向に沿う長さが、第一軸ｘ１方向に直交する第二軸ｘ２方向の長さ（幅）よりも長くなるように、アクチュエータバンド１が切断されている（図１０参照）。つまり、第一軸ｘ１方向はアクチュエータバンド１の長手方向であり、第二軸ｘ２方向はアクチュエータバンド１の短手方向である。 Thereafter, the actuator band 1 is cut to a desired length. In the present embodiment, the length along the first axis x1 direction from one end of the actuator band 1 to the other end is longer than the length (width) in the second axis x2 direction orthogonal to the first axis x1 direction. Thus, the actuator band 1 is cut (see FIG. 10). That is, the first axis x1 direction is the longitudinal direction of the actuator band 1, and the second axis x2 direction is the short direction of the actuator band 1.
　所望の長さに切断されたアクチュエータバンド１の両端は、第一接合具４ａおよび第二接合具４ｂが取り付けられる。これにより、アクチュエータ部材６８が組み立てられる。第一接合具４ａ及び第二接合具４ｂのそれぞれは、電線を介して制御装置５に電気的に接続される。このようにして、アクチュエータ装置６０が製造される。 The first connector 4a and the second connector 4b are attached to both ends of the actuator band 1 cut to a desired length. Thereby, the actuator member 68 is assembled. Each of the first connector 4a and the second connector 4b is electrically connected to the control device 5 via an electric wire. In this way, the actuator device 60 is manufactured.
　［アクチュエータ装置の動作］
　次にアクチュエータ装置６０の動作について説明する。図１に示すようにアクチュエータバンド１における一端側の第二接合具４ｂに対しては、電線Ｗを介しておもり６が連結されている。このおもり６によってアクチュエータバンド１は、所定の張力が付与され、ピンと張った状態となる。言い換えれば、アクチュエータバンド１には、おもり６によって第一軸ｘ１方向に沿う張力が付与されている。 [Operation of actuator device]
Next, the operation of the actuator device 60 will be described. As shown in FIG. 1, a weight 6 is connected to the second connector 4 b on one end side of the actuator band 1 via an electric wire W. Due to the weight 6, the actuator band 1 is given a predetermined tension and is in a tensioned state. In other words, a tension along the first axis x1 direction is applied to the actuator band 1 by the weight 6.
　図１０は、実施の形態に係るアクチュエータバンド１を示す模式図である。図１１Ａは、実施の形態に係るアクチュエータバンド１が加熱されていない状態を示す図であり、図１１Ｂは、アクチュエータバンド１が加熱されている状態を示す図である。 FIG. 10 is a schematic diagram showing the actuator band 1 according to the embodiment. FIG. 11A is a diagram illustrating a state in which the actuator band 1 according to the embodiment is not heated, and FIG. 11B is a diagram illustrating a state in which the actuator band 1 is heated.
　まず、アクチュエータバンド１が加熱されていない状態において初期張力が印加されると、図１０に示すように、アクチュエータバンド１は、組目がアクチュエータバンド１の第一軸ｘ１方向に長い略菱形状になり、伸びた状態になる。このときのアクチュエータバンド１の第一軸ｘ１方向の長さはＬ０である（図１１Ａ参照）。複数本のアクチュエータ単線１３ａ、１３ｂは、互いに交差し、組目を形成している。具体的には、アクチュエータ単線１３ａに沿う軸Ａ１は、第一軸ｘ１に対して角度θ１傾いており、アクチュエータ単線１３ｂに沿う軸Ａ２は、第一軸ｘ１に対して角度θ２傾いている。例えば、アクチュエータ単線１３ａおよび１３ｂが交差することによって形成される交差角のうち、第一軸ｘ１を跨ぐ交差角は（θ１＋θ２）であり、第二軸ｘ２を跨ぐ交差角は（１８０°－θ１－θ２）である。 First, when an initial tension is applied in a state where the actuator band 1 is not heated, the actuator band 1 has a substantially rhombus shape whose group is long in the direction of the first axis x1 of the actuator band 1 as shown in FIG. And become stretched. At this time, the length of the actuator band 1 in the first axis x1 direction is L0 (see FIG. 11A). The plurality of actuator single wires 13a and 13b intersect with each other to form a set. Specifically, the axis A1 along the actuator single line 13a is inclined at an angle θ1 with respect to the first axis x1, and the axis A2 along the actuator single line 13b is inclined at an angle θ2 with respect to the first axis x1. For example, of the crossing angles formed by the crossing of the actuator single wires 13a and 13b, the crossing angle straddling the first axis x1 is (θ1 + θ2), and the crossing angle straddling the second axis x2 is (180 ° −θ1− θ2).
　このように複数本のアクチュエータ単線１３ａ、１３ｂが互いに交差することで、アクチュエータバンド１の第一軸ｘ１方向に沿って印加された初期張力が、アクチュエータ単線１３ａに沿う軸Ａ１およびアクチュエータ単線１３ｂに沿う軸Ａ２のそれぞれに平行な
方向に沿って分散され、各アクチュエータ単線１３ａ、１３ｂに印加される初期張力は平均化される。この結果、各アクチュエータ単線１３ａ、１３ｂに対してほぼ均一に初期張力が印加される。 As a result of the plurality of actuator single wires 13a and 13b intersecting with each other in this way, the initial tension applied along the first axis x1 direction of the actuator band 1 is along the axis A1 along the actuator single wire 13a and the actuator single wire 13b. The initial tension distributed along the direction parallel to each of the axes A2 and applied to each actuator single line 13a, 13b is averaged. As a result, the initial tension is applied to the actuator single wires 13a and 13b almost uniformly.
　次に、アクチュエータバンド１が加熱されると、図１１Ｂに示すように、アクチュエータワイヤ１１が熱歪により収縮し、アクチュエータバンド１の組目が変形する。具体的には、第一軸ｘ１を跨ぐ交差角が、前述した交差角（θ１＋θ２）よりも大きくなり、第二軸ｘ２を跨ぐ交差角が、前述した交差角（１８０°－θ１－θ２）よりも小さくなるように組目が変形する。これによりアクチュエータバンド１は、第一軸ｘ１方向に沿って、長さが短くなる。このときのアクチュエータバンド１の第一軸ｘ１方向の長さはＬ１（＜Ｌ０）である。アクチュエータバンド１は、組目の変形により伸縮するため、アクチュエータ単線１３ａ、１３ｂが互いに交差する点において伸縮の動きが阻害されない。この効果は、アクチュエータバンド１の布目が編目、または、織目の場合でも得られる。 Next, when the actuator band 1 is heated, as shown in FIG. 11B, the actuator wire 11 contracts due to thermal strain, and the set of the actuator band 1 is deformed. Specifically, the intersection angle straddling the first axis x1 is larger than the aforementioned intersection angle (θ1 + θ2), and the intersection angle straddling the second axis x2 is greater than the aforementioned intersection angle (180 ° −θ1−θ2). The set is deformed so as to be smaller. As a result, the length of the actuator band 1 is shortened along the direction of the first axis x1. At this time, the length of the actuator band 1 in the first axis x1 direction is L1 (<L0). Since the actuator band 1 expands and contracts due to the deformation of the set, the movement of expansion and contraction is not hindered at the point where the actuator single wires 13a and 13b intersect each other. This effect can be obtained even when the fabric of the actuator band 1 is a stitch or a weave.
　なお、網状の発熱体１２がアクチュエータワイヤ１１の伸縮に追随して均一に変形するためには、電熱線２１ａ、２１ｂは剛性が小さく弾性を有することが望ましい。アクチュエータ装置６０において、アクチュエータバンド１に印加される初期張力は小さいほどよく、かつ、加熱時のアクチュエータバンド１の収縮率は大きいほどよい。言い換えると、アクチュエータバンド１は、初期張力に対する収縮率の割合が大きいほどよい。 It should be noted that in order for the net-like heating element 12 to be uniformly deformed following the expansion and contraction of the actuator wire 11, it is desirable that the heating wires 21a and 21b have small rigidity and elasticity. In the actuator device 60, the smaller the initial tension applied to the actuator band 1 is, and the better the contraction rate of the actuator band 1 during heating is. In other words, the actuator band 1 is better as the ratio of the contraction rate to the initial tension is larger.
　［実施例］
　以下、本発明に係る実施例について説明する。 [Example]
Examples according to the present invention will be described below.
　（アクチュエータワイヤの製造）
　特許文献３の開示内容に従って、本発明者らはコイル状ポリマー繊維１１１を得た。次に、本発明者らは、２本のコイル状ポリマー繊維１１１を捻り、アクチュエータワイヤ１１を得た。図３に示すように、アクチュエータワイヤ１１は、互いに撚り合わされた２本のコイル状ポリマー繊維１１１から構成されている。言い換えれば、捻られた１本のコイル状ポリマー繊維１１１ａの側面は、捻られた他のコイル状ポリマー繊維１１１ｂの側面に接している。 (Manufacture of actuator wires)
In accordance with the disclosure of Patent Document 3, the present inventors obtained a coiled polymer fiber 111. Next, the inventors twisted two coiled polymer fibers 111 to obtain an actuator wire 11. As shown in FIG. 3, the actuator wire 11 is composed of two coiled polymer fibers 111 twisted together. In other words, the side surface of one twisted coiled polymer fiber 111a is in contact with the side surface of another twisted coiled polymer fiber 111b.
　（電熱線の製造）
　ポリエステルからなるモノフィラメント（東レ株式会社製、繊維の太さ：１０デニール）が弾性糸５１として用いられた。弾性糸５１の周りに金属ワイヤ５２（日本精線株式会社　商品名「ステンレス鋼線」　材質「ＳＵＳ　３１６Ｌ」　直径寸法「０．０３０ｍｍ」）がＳ撚り（撚り数：２９５０Ｔ／ｍ）に組まれた。このようにして、本発明者らは電熱線２１を得た。 (Manufacture of heating wire)
A monofilament made of polyester (manufactured by Toray Industries, Inc., fiber thickness: 10 denier) was used as the elastic yarn 51. A metal wire 52 (Nippon Seisen Co., Ltd., trade name “stainless steel wire”, material “SUS 316L”, diameter size “0.030 mm”) is assembled in an S twist (twist number: 2950 T / m) around the elastic yarn 51. . Thus, the present inventors obtained the heating wire 21.
　（アクチュエータ単線の製造）
　本発明者らは、製紐機を用いて、アクチュエータワイヤ１１の側面を４本の電熱線２１からなる網状の発熱体１２により被覆し、アクチュエータ単線１３を得た。 (Manufacture of actuator single wire)
The inventors used a string making machine to coat the side surface of the actuator wire 11 with a net-like heating element 12 composed of four heating wires 21 to obtain a single actuator wire 13.
　（アクチュエータバンドの製造）
　本発明者らは、９本のアクチュエータ単線１３を用いて、平打ち製紐を行い、アクチュエータバンド１を得た。そして当該アクチュエータバンド１を切断し、約７０ｍｍの長さを有するアクチュエータバンド１を得た。 (Manufacture of actuator bands)
The inventors of the present invention performed a flat string using nine actuator single wires 13 to obtain an actuator band 1. Then, the actuator band 1 was cut to obtain an actuator band 1 having a length of about 70 mm.
　（接合具による接合）
　加締め工具を用いて、金属製の第一接合具４ａは、アクチュエータバンド１の一端に接合された。同様に、金属製の第二接合具４ｂは、アクチュエータバンド１の他端に接合さ
れた。このようにして、本発明者らは、アクチュエータ部材６８を得た。そして、アクチュエータバンド１に対して加熱試験を行い、アクチュエータバンド１の伸縮状態を観察した。 (Join with a connector)
The metal first connector 4 a was joined to one end of the actuator band 1 using a caulking tool. Similarly, the metal second connector 4 b was bonded to the other end of the actuator band 1. In this way, the inventors obtained the actuator member 68. And the heating test was done with respect to the actuator band 1, and the expansion-contraction state of the actuator band 1 was observed.
　（加熱試験）
　次に、アクチュエータバンド１に対する加熱試験について説明する。図１２は、加熱試験に用いられる試験装置１００の模式図である。試験装置１００は、固定板７、滑車３１、鏡３２、放射温度計１５及びレーザ変位計１４を備えている。 (Heating test)
Next, a heating test for the actuator band 1 will be described. FIG. 12 is a schematic diagram of a test apparatus 100 used for the heating test. The test apparatus 100 includes a fixed plate 7, a pulley 31, a mirror 32, a radiation thermometer 15, and a laser displacement meter 14.
　第一接合具４ａは、固定板７を用いて固定された。滑車３１は、アクチュエータバンド１の他端側の第二接合具４ｂに取り付けられた電線Ｗをガイドする滑車である。固定板７及び滑車３１によって、アクチュエータバンド１は、略水平に配置されている。電線Ｗには、例えば５００ｇのおもり６が取り付けられている。このおもり６による初期張力により、アクチュエータバンド１は伸長した状態となる（例えば図１１Ａ参照）。アクチュエータバンド１の第二接合具４ｂは、当該アクチュエータバンド１の伸縮に基づいて第一軸ｘ１方向に沿って移動自在となっている。 The first connector 4 a was fixed using a fixing plate 7. The pulley 31 is a pulley that guides the electric wire W attached to the second connector 4 b on the other end side of the actuator band 1. The actuator band 1 is arranged substantially horizontally by the fixing plate 7 and the pulley 31. For example, a weight 6 of 500 g is attached to the electric wire W. Due to the initial tension by the weight 6, the actuator band 1 is extended (see, for example, FIG. 11A). The second connector 4b of the actuator band 1 is movable along the direction of the first axis x1 based on the expansion and contraction of the actuator band 1.
　鏡３２は、アクチュエータバンド１の第二接合具４ｂに取り付けられており、当該第二接合具４ｂの移動に連動して第一軸ｘ１方向に移動するようになっている。鏡３２の鏡面は、第一軸ｘ１に直交する方向に沿って設けられており、この鏡３２の鏡面に対向する位置にレーザ変位計１４が配置されている。レーザ変位計１４としては、キーエンス社製の商品名「ＬＫ－０８０」を用いた。レーザ変位計１４は、鏡３２に対してレーザ光を照射し、鏡３２を反射したレーザ光を検出することで、第二接合具４ｂの変位を計測する。つまり、レーザ変位計１４は、アクチュエータバンド１の変位を計測する。 The mirror 32 is attached to the second connector 4b of the actuator band 1, and moves in the first axis x1 direction in conjunction with the movement of the second connector 4b. The mirror surface of the mirror 32 is provided along a direction orthogonal to the first axis x1, and the laser displacement meter 14 is disposed at a position facing the mirror surface of the mirror 32. As the laser displacement meter 14, a trade name “LK-080” manufactured by Keyence Corporation was used. The laser displacement meter 14 measures the displacement of the second connector 4b by irradiating the mirror 32 with laser light and detecting the laser light reflected by the mirror 32. That is, the laser displacement meter 14 measures the displacement of the actuator band 1.
　放射温度計１５は、アクチュエータバンド１が放出する赤外線または可視光を検出可能な位置に配置されており、検出した赤外線または可視光に基づいてアクチュエータバンド１の温度を測定する。放射温度計１５としては、Ａｐｉｓｔｅ製、商品名「ＦＳＶ－２１０」を用いた。 The radiation thermometer 15 is disposed at a position where infrared or visible light emitted from the actuator band 1 can be detected, and measures the temperature of the actuator band 1 based on the detected infrared or visible light. As the radiation thermometer 15, a product name “FSV-210” manufactured by Apiste was used.
　本発明者らは、制御装置５を用いて、網状の発熱体１２に４２０ｍＡの電流、１Ｗの電力を３０秒間供給した。このとき、アクチュエータバンド１の側面の温度がおよそ摂氏７０度に到達した。この加熱により、アクチュエータバンド１は、第一軸ｘ１方向に収縮した。その後、網状の発熱体１２に電力の供給を停止し、９０秒間の冷却時間を設けた。このようにして、アクチュエータバンド１の側面が摂氏３０度以下になるまで自然に冷却した。 The inventors of the present invention supplied a current of 420 mA and a power of 1 W to the mesh heating element 12 using the control device 5 for 30 seconds. At this time, the temperature of the side surface of the actuator band 1 reached approximately 70 degrees Celsius. By this heating, the actuator band 1 contracted in the first axis x1 direction. Thereafter, the supply of power to the mesh heating element 12 was stopped, and a cooling time of 90 seconds was provided. In this way, the actuator band 1 was naturally cooled until the side surface of the actuator band 1 became 30 degrees Celsius or less.
　この放熱により、アクチュエータバンド１は、第一軸ｘ１方向に伸び、復元した。アクチュエータバンド１の収縮および復元と共に、鏡３２は、アクチュエータバンド１の長手方向に繰り返し移動した。この移動をレーザ変位計１４を用いて計測することで、アクチュエータバンド１の伸縮を計測した。 The actuator band 1 was extended and restored in the direction of the first axis x1 by this heat radiation. As the actuator band 1 contracted and restored, the mirror 32 repeatedly moved in the longitudinal direction of the actuator band 1. The movement of the actuator band 1 was measured by measuring this movement using the laser displacement meter 14.
　１回目の加熱試験において、３００ｇのおもり６が用いられた。アクチュエータバンド１は、９本のアクチュエータ単線１３を具備する。したがって、このとき、１本のアクチュエータ単線１３あたりの荷重（Ｍ１）は、３３．３ｇ（＝３００ｇ／９本）であった。加熱試験において、アクチュエータバンド１の加熱および冷却が３回繰り返された。 In the first heating test, a 300 g weight 6 was used. The actuator band 1 includes nine actuator single wires 13. Therefore, at this time, the load (M1) per actuator single wire 13 was 33.3 g (= 300 g / 9 wires). In the heating test, heating and cooling of the actuator band 1 were repeated three times.
　２回目の加熱試験は、４００ｇのおもり６が用いられたこと以外は、１回目の加熱試験と同様に行われた。このとき、１本のアクチュエータ単線１３あたりの荷重（Ｍ１）は、４４．４ｇ（＝４００ｇ／９本）であった。 The second heating test was performed in the same manner as the first heating test except that a 400 g weight 6 was used. At this time, the load per actuator single wire 13 (M1) was 44.4 g (= 400 g / 9 wires).
　３回目の加熱試験は、５００ｇのおもり６が用いられたこと以外は、１回目の加熱試験と同様に行われた。このとき、１本のアクチュエータ単線１３あたりの荷重（Ｍ１）は、５５．６ｇ（＝５００ｇ／９本）であった。 The third heating test was performed in the same manner as the first heating test except that a 500 g weight 6 was used. At this time, the load (M1) per actuator single wire 13 was 55.6 g (= 500 g / 9 wires).
　表１は、１本のアクチュエータ単線１３あたりの荷重（Ｍ１）と、加熱及び冷却が３回繰り返されたときのアクチュエータバンド１の収縮量および収縮率（Ｃ）を示す。収縮率（Ｃ）は、以下の数式（ＩＡ）で定義される。 Table 1 shows the load per actuator single line 13 (M1) and the contraction amount and contraction rate (C) of the actuator band 1 when heating and cooling are repeated three times. The shrinkage rate (C) is defined by the following mathematical formula (IA).
　Ｃ＝｜Ｌ１－Ｌ０｜／Ｌ０×１００　　　（ＩＡ） C = | L1-L0 | / L0 × 100 (IA)
　ここで、Ｌ０は加熱前において初期張力（初期荷重）が印加されたアクチュエータバンド１の長さ、すなわち冷却時のアクチュエータバンドの長さを示し、Ｌ１は加熱時のアクチュエータバンド１の長さを示す。 Here, L0 indicates the length of the actuator band 1 to which initial tension (initial load) is applied before heating, that is, the length of the actuator band during cooling, and L1 indicates the length of the actuator band 1 during heating. .
　また、表１は、収縮率（Ｃ）を１本のアクチュエータ単線１３あたりの荷重（Ｍ１）で割った単位荷重における収縮度合（Ｃ／Ｍ１）を示す。単位荷重における収縮度合（Ｃ／Ｍ１）は、算出した収縮率Ｃを比較できるように収縮率を単位荷重で表した値であり、大きいほど好ましい。この収縮度合（Ｃ／Ｍ１）は、初期張力に対する収縮率の割合と相関性を有する。なお、以下において、アクチュエータ単線１３を「単線」と呼ぶ場合がある。 Table 1 shows the degree of contraction (C / M1) in a unit load obtained by dividing the contraction rate (C) by the load per actuator single wire 13 (M1). The degree of shrinkage (C / M1) at the unit load is a value representing the shrinkage rate by the unit load so that the calculated shrinkage rate C can be compared, and it is preferably as large as possible. This degree of shrinkage (C / M1) has a correlation with the ratio of shrinkage to the initial tension. In the following, the actuator single wire 13 may be referred to as a “single wire”.
Figure JPOXMLDOC01-appb-T000001
Figure JPOXMLDOC01-appb-T000001
　実施例のアクチュエータバンド１では、収縮率（Ｃ）は、単線１本あたりの荷重（Ｍ１）が４４．４ｇのときに最も大きく、最大の収縮率（Ｃ）が７．７％であった。また、収縮度合（Ｃ／Ｍ１）は、単線１本あたりの荷重（Ｍ１）が３３．３ｇのときに最も大きく、最大の収縮度合（Ｃ／Ｍ１）は０．２２であった。 In the actuator band 1 of the example, the shrinkage rate (C) was the largest when the load (M1) per single wire was 44.4 g, and the maximum shrinkage rate (C) was 7.7%. Further, the degree of shrinkage (C / M1) was the largest when the load per single wire (M1) was 33.3 g, and the maximum degree of shrinkage (C / M1) was 0.22.
　（比較例１）
　ここで、本実施例のアクチュエータ装置６０の効果を説明するため、比較例１のアクチュエータ装置５００が説明される。 (Comparative Example 1)
Here, in order to explain the effect of the actuator device 60 of the present embodiment, the actuator device 500 of the comparative example 1 will be described.
　比較例１では、５本のアクチュエータ単線１３が並列に間隔をあけて配置されたアクチュエータバンド５０１を用いた。比較例１のアクチュエータ装置５００では、長さを１２０ｍｍに揃えたアクチュエータ単線１３の一端をバンド冶具１２０に固定し、アクチュエータ単線１３の他端をバンド冶具１２１に固定した。アクチュエータ単線１３の一端および他端は、バンド冶具１２０、１２１に設けた導線により制御装置５に接続された。また、アクチュエータ単線１３には、おもり６を用いて初期張力を印加された。１回目の加熱試験および２回目の加熱試験において、それぞれ、１５０ｇのおもり６および２００ｇの
おもり６が用いられた。 In Comparative Example 1, an actuator band 501 in which five actuator single wires 13 are arranged in parallel with an interval between them is used. In the actuator device 500 of Comparative Example 1, one end of the actuator single wire 13 having a length of 120 mm was fixed to the band jig 120, and the other end of the actuator single wire 13 was fixed to the band jig 121. One end and the other end of the actuator single wire 13 were connected to the control device 5 by conducting wires provided on the band jigs 120 and 121. An initial tension was applied to the actuator single wire 13 using the weight 6. In the first heating test and the second heating test, 150 g of weight 6 and 200 g of weight 6 were used, respectively.
　そして、制御装置５に、網状の発熱体１２に１５８ｍＡの電流、０．８Ｗの電力を９０秒間供給し、５本のアクチュエータ単線１３を加熱した。このとき、アクチュエータ単線１３の側面の温度がおよそ摂氏７０度に到達した。その後、網状の発熱体１２に対する電力の供給を停止し、９０秒間の冷却時間を設けた。このようにして、アクチュエータ単線１３の側面が摂氏３０度以下になるまで自然に冷却した。５本のアクチュエータ単線１３のうち中心に配置されたアクチュエータ単線１３の温度がモニターされた。 The controller 5 was supplied with a current of 158 mA and a power of 0.8 W for 90 seconds to the net-like heating element 12 to heat the five actuator single wires 13. At this time, the temperature of the side surface of the actuator single wire 13 reached approximately 70 degrees Celsius. Thereafter, the supply of power to the net-like heating element 12 was stopped, and a cooling time of 90 seconds was provided. In this way, the actuator was naturally cooled until the side surface of the actuator single wire 13 became 30 degrees Celsius or less. The temperature of the single actuator wire 13 arranged at the center among the five single actuator wires 13 was monitored.
　表２に、１本のアクチュエータ単線１３あたりの荷重（Ｍ１）、加熱及び冷却の３回目のアクチュエータバンド５０１の収縮量および収縮率（Ｃ）、および、単位荷重における収縮度合（Ｃ／Ｍ１）を示す。 Table 2 shows the load per actuator single wire 13 (M1), the contraction amount and contraction rate (C) of the actuator band 501 for the third heating and cooling, and the contraction degree (C / M1) per unit load. Show.
Figure JPOXMLDOC01-appb-T000002
Figure JPOXMLDOC01-appb-T000002
　比較例１のアクチュエータバンド５０１では、収縮率（Ｃ）は、単線１本あたりの荷重（Ｍ１）が３０ｇのときに最も大きく、最大の収縮率（Ｃ）が３．１％であった。また、収縮度合（Ｃ／Ｍ１）は、単線１本あたりの荷重（Ｍ１）が３０ｇのときに最も大きく、最大の収縮度合（Ｃ／Ｍ１）は０．１０であった。 In the actuator band 501 of Comparative Example 1, the shrinkage rate (C) was the largest when the load (M1) per single wire was 30 g, and the maximum shrinkage rate (C) was 3.1%. The degree of shrinkage (C / M1) was the largest when the load per single wire (M1) was 30 g, and the maximum degree of shrinkage (C / M1) was 0.10.
　このように比較例１のアクチュエータバンド５０１の収縮度合（Ｃ／Ｍ１）は、本実施例のアクチュエータバンド５０１の収縮度合（Ｃ／Ｍ１）よりも小さい。これは、５本のアクチュエータ単線１３の全てに均一な荷重が印加されなかったこと、また、５本のアクチュエータ単線１３の温度が均一でなかったことが原因として考えられる。 Thus, the contraction degree (C / M1) of the actuator band 501 of the comparative example 1 is smaller than the contraction degree (C / M1) of the actuator band 501 of the present embodiment. This is probably because a uniform load was not applied to all of the five actuator single wires 13 and the temperature of the five actuator single wires 13 was not uniform.
　それに対し本実施例では、アクチュエータ単線１３が互いに交差するように組まれてアクチュエータバンド１が形成されている。このため、アクチュエータバンド１に均一な荷重が印加されやすく、また、アクチュエータバンド１の全体の温度が均一化されやすい。これにより、初期張力に対する収縮率の割合が大きいアクチュエータバンド１を得ることができる。 In contrast, in this embodiment, the actuator band 1 is formed by assembling the actuator single wires 13 so as to intersect each other. For this reason, a uniform load is easily applied to the actuator band 1, and the entire temperature of the actuator band 1 is easily made uniform. Thereby, the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be obtained.
　（比較例２）
　また、本実施例のアクチュエータ装置６０の効果を説明するため、比較例２のアクチュエータ装置が説明される。 (Comparative Example 2)
In order to explain the effect of the actuator device 60 of the present embodiment, the actuator device of Comparative Example 2 will be described.
　比較例２では、１本のアクチュエータ単線１３のみを具備するアクチュエータバンド（図示省略）が用いられたこと以外は、実施例と同様にアクチュエータ部材が作製された。アクチュエータ単線１３の長さは約５０ｍｍであった。 In Comparative Example 2, an actuator member was produced in the same manner as in the Example, except that an actuator band (not shown) having only one actuator single wire 13 was used. The length of the actuator single wire 13 was about 50 mm.
　１回目の加熱試験、２回目の加熱試験、３回目の加熱試験、４回目の加熱試験、および５回目の加熱試験において、それぞれ、１０ｇのおもり６、２０ｇのおもり６、３０ｇの
おもり６、４０ｇのおもり６、および５０ｇのおもり６が用いられた。そして、制御装置５を用いて、網状の発熱体１２に１１０ｍＡの電流、０．３４Ｗの電力を１０秒間供給し、アクチュエータ単線１３を加熱した。このとき、アクチュエータ単線１３の側面の温度がおよそ摂氏７０度に到達した。その後、網状の発熱体１２に対する電力の供給を停止し、３０秒間の冷却時間を設けた。このようにして、アクチュエータ単線１３の側面が摂氏３０度以下になるまで自然に冷却した。 In the first heating test, the second heating test, the third heating test, the fourth heating test, and the fifth heating test, a 10 g weight 6, a 20 g weight 6, a 30 g weight 6, 40 g, respectively. A weight 6 and a 50 g weight 6 were used. Then, using the control device 5, a current of 110 mA and a power of 0.34 W were supplied to the mesh heating element 12 for 10 seconds to heat the actuator single wire 13. At this time, the temperature of the side surface of the actuator single wire 13 reached approximately 70 degrees Celsius. Thereafter, the supply of power to the net-like heating element 12 was stopped, and a cooling time of 30 seconds was provided. In this way, the actuator was naturally cooled until the side surface of the actuator single wire 13 became 30 degrees Celsius or less.
　表３に、１本のアクチュエータ単線１３あたりの荷重（Ｍ１）、加熱及び冷却が３回繰り返されたときのアクチュエータバンドの収縮量および収縮率（Ｃ）、および、単位荷重における収縮度合（Ｃ／Ｍ１）を示す。 Table 3 shows the load per actuator single wire 13 (M1), the contraction amount and contraction rate (C) of the actuator band when heating and cooling are repeated three times, and the contraction degree (C / M1).
Figure JPOXMLDOC01-appb-T000003
Figure JPOXMLDOC01-appb-T000003
　比較例２のアクチュエータバンド、すなわち１本のアクチュエータ単線１３では、収縮率（Ｃ）は、単線１本あたりの荷重（Ｍ１）が５０ｇのときに最も大きく、最大の収縮率（Ｃ）が７．６％であった。また、収縮度合（Ｃ／Ｍ１）は、単線１本あたりの荷重（Ｍ１）が４０ｇのときに最も大きく、最大の収縮度合（Ｃ／Ｍ１）は０．１８であった。 In the actuator band of Comparative Example 2, that is, one actuator single wire 13, the contraction rate (C) is the largest when the load (M1) per single wire is 50 g, and the maximum contraction rate (C) is 7. It was 6%. The degree of shrinkage (C / M1) was the largest when the load (M1) per single wire was 40 g, and the maximum degree of shrinkage (C / M1) was 0.18.
　表１および表３を見ると、本実施例のアクチュエータバンド１は、比較例２である１本のアクチュエータ単線１３と比べて、同等の収縮率Ｃおよび収縮度合（Ｃ／Ｍ１）を有している。 As can be seen from Tables 1 and 3, the actuator band 1 of this example has the same contraction rate C and contraction degree (C / M1) as compared with the single actuator wire 13 of Comparative Example 2. Yes.
　ここで、本実施例と比較例２とで収縮率Ｃおよび収縮度合（Ｃ／Ｍ１）が同等となっていることについて検討する。比較例２のように１本のアクチュエータ単線１３が加熱および冷却されることで変位する変位方向は、アクチュエータ単線１３の長手方向に沿う方向である。そのため、本実施例のようにアクチュエータ単線１３を第一軸ｘ１に対して角度θ１（図１０）傾けて配置した場合、アクチュエータバンド１の第一軸ｘ１方向における変位量は、（アクチュエータ単線の軸Ａ１方向における変位量）×（１－ｃｏｓθ１）だけ低下すると普通ならば考えられる。しかしながら、表１に示すように本実施例では、収縮率Ｃおよび収縮度合（Ｃ／Ｍ１）が１本のアクチュエータ単線１３の場合と同等になっている。これは、アクチュエータバンド１が、複数のアクチュエータ単線１３が交差して組まれた状態で、第一軸ｘ１方向に張力が印加される構造となっているからであると考えられる。 Here, it is examined that the shrinkage rate C and the degree of shrinkage (C / M1) are the same in this example and Comparative Example 2. The displacement direction displaced by heating and cooling one actuator single line 13 as in Comparative Example 2 is a direction along the longitudinal direction of the single actuator line 13. Therefore, when the actuator single wire 13 is disposed at an angle θ1 (FIG. 10) with respect to the first axis x1 as in this embodiment, the displacement amount of the actuator band 1 in the first axis x1 direction is (the axis of the actuator single wire). It is normally considered that the displacement is reduced by (displacement in the A1 direction) × (1−cos θ1). However, as shown in Table 1, in this embodiment, the contraction rate C and the contraction degree (C / M1) are equivalent to the case of the single actuator wire 13. This is presumably because the actuator band 1 has a structure in which tension is applied in the direction of the first axis x1 in a state where a plurality of single actuator wires 13 are assembled to intersect.
　本発明は、人工筋肉として用いられるアクチュエータ装置に適用可能である。 The present invention can be applied to an actuator device used as an artificial muscle.
　［本発明の構成および効果］
　以上のように、実施の形態に係るアクチュエータ装置６０は、アクチュエータバンド１
、および制御装置５を具備し、ここで、アクチュエータバンド１は、複数のアクチュエータ単線１３を具備し、複数のアクチュエータ単線１３は、組まれ、編まれ、または織られており、複数のアクチュエータ単線１３の一端は、互いに接合されており、複数のアクチュエータ単線１３の他端は、互いに接合されており、複数のアクチュエータ単線１３の各々は、アクチュエータワイヤ１１、およびアクチュエータワイヤ１１の側面を被覆しかつ複数の電熱線２１を具備する網状の発熱体１２、を具備し、アクチュエータワイヤ１１は、高分子からなる繊維（コイル状ポリマー繊維）１１１から形成され、繊維１１１は、その長軸の周りに沿って捩られており、繊維１１１は、円筒状のコイルの形状を有するように折りたたまれており、アクチュエータワイヤ１１は、加熱により縮み、かつ放熱により復元し、網状の発熱体１２の一端は、アクチュエータワイヤ１１の一端に接合されており、網状の発熱体１２の他端は、アクチュエータワイヤ１１の他端に接合されており、制御装置５は、網状の発熱体１２を加熱するための電力を網状の発熱体１２に供給するために用いられ、かつアクチュエータバンド１は、その長手方向に沿って張力が印加された状態で加熱されることにより、長手方向に沿って収縮する。 [Configuration and effect of the present invention]
As described above, the actuator device 60 according to the embodiment includes the actuator band 1.
And the control device 5, wherein the actuator band 1 includes a plurality of single actuator wires 13, and the plurality of single actuator wires 13 are assembled, knitted, or woven. One end of each of the plurality of single actuator wires 13 is joined to the other end of each of the plurality of single actuator wires 13, and each of the plurality of single actuator wires 13 covers the actuator wire 11 and the side surface of the actuator wire 11. The actuator wire 11 is formed of a polymer fiber (coiled polymer fiber) 111, and the fiber 111 extends around the long axis thereof. Twisted, fiber 111 is folded to have the shape of a cylindrical coil and The heater wire 11 is shrunk by heating and restored by heat dissipation, and one end of the mesh heating element 12 is joined to one end of the actuator wire 11, and the other end of the mesh heating element 12 is the other end of the actuator wire 11. The control device 5 is used to supply power for heating the mesh heating element 12 to the mesh heating element 12, and the actuator band 1 has a tension along its longitudinal direction. By being heated in the applied state, it contracts along the longitudinal direction.
　また、実施の形態に係るアクチュエータバンド１は、複数のアクチュエータ単線１３を具備するアクチュエータバンド１であって、複数のアクチュエータ単線１３は、組まれ、編まれ、または織られており、複数のアクチュエータ単線１３の一端は、互いに接合されており、複数のアクチュエータ単線１３の他端は、互いに接合されており、複数のアクチュエータ単線１３の各々は、アクチュエータワイヤ１１、およびアクチュエータワイヤ１１の側面を被覆し、かつ複数の電熱線２１を具備する網状の発熱体１２を具備し、アクチュエータワイヤ１１は、高分子からなる繊維１１１から形成され、繊維１１１は、その長軸の周りに沿って捩られており、繊維１１１は、円筒状のコイルの形状を有するように折りたたまれており、アクチュエータワイヤ１１は、加熱により縮み、かつ放熱により復元し、網状の発熱体１２の一端は、アクチュエータワイヤ１１の一端に接合されており、かつ網状の発熱体１２の他端は、アクチュエータワイヤ１１の他端に接合されている。 Moreover, the actuator band 1 which concerns on embodiment is the actuator band 1 which comprises the several actuator single wire 13, Comprising: The several actuator single wire 13 is assembled | assembled, knitted, or woven, The several actuator single wire One end of 13 is joined to each other, the other end of the plurality of actuator single wires 13 is joined to each other, and each of the plurality of actuator single wires 13 covers the actuator wire 11 and the side surface of the actuator wire 11, The actuator wire 11 is formed of a polymer fiber 111, and the fiber 111 is twisted around its long axis, and includes a net-like heating element 12 having a plurality of heating wires 21. The fiber 111 is folded so as to have a cylindrical coil shape. The data wire 11 is contracted by heating and restored by heat dissipation. One end of the net-like heating element 12 is joined to one end of the actuator wire 11, and the other end of the net-like heating element 12 is connected to the other end of the actuator wire 11. It is joined to the end.
　また、実施の形態に係るアクチュエータバンド１の製造は、上記アクチュエータバンド１の製造方法であって、以下の工程を具備する。（ａ）加熱により縮み、かつ放熱により復元するアクチュエータワイヤ１１を形成する工程、ここで、アクチュエータワイヤ１１は、高分子からなる複数の繊維１１１が互いに撚られることで形成され、繊維１１１は、その長軸の周りに沿って捩られており、かつ繊維１１１は、円筒状のコイルの形状を有するように折りたたまれており、（ｂ）アクチュエータワイヤ１１の側面に網状の発熱体１２を設けてアクチュエータ単線１３を得る工程、かつ（ｃ）複数のアクチュエータ単線１３を組んで、編んで、または織って、アクチュエータバンド１を得る工程。 The manufacture of the actuator band 1 according to the embodiment is a method for manufacturing the actuator band 1 and includes the following steps. (A) A step of forming an actuator wire 11 that shrinks by heating and recovers by heat dissipation, where the actuator wire 11 is formed by twisting a plurality of fibers 111 made of a polymer, and the fibers 111 are The fiber 111 is twisted along the long axis and is folded so as to have a cylindrical coil shape. (B) A net-like heating element 12 is provided on the side surface of the actuator wire 11 to provide an actuator. A step of obtaining a single wire 13 and (c) a step of assembling, knitting or weaving a plurality of actuator single wires 13 to obtain an actuator band 1.
　このように、複数のアクチュエータ単線１３が組まれ、編まれ、または織られてアクチュエータバンド１が形成されることで、例えば複数のアクチュエータ単線１３を並列に間隔をあけて配置してアクチュエータバンドを形成した場合に比べて、初期張力に対する収縮率の割合が大きいアクチュエータバンド１を提供することができる。 In this way, a plurality of actuator single wires 13 are assembled, knitted, or woven to form the actuator band 1, so that, for example, a plurality of actuator single wires 13 are arranged at intervals in parallel to form an actuator band. Compared to the case, the actuator band 1 having a large ratio of the contraction rate to the initial tension can be provided.
　また、複数のアクチュエータ単線は、互いに交差していてもよい。 In addition, the plurality of actuator single wires may intersect each other.
　このように、複数のアクチュエータ単線１３が互いに交差するようにアクチュエータバンド１が形成されることで、例えば複数のアクチュエータ単線１３を交差させずに並列に配置してアクチュエータバンドを形成した場合に比べて、初期張力に対する収縮率の割合が大きいアクチュエータバンド１を提供することができる。 Thus, the actuator band 1 is formed so that the plurality of actuator single wires 13 intersect with each other, for example, compared to the case where the actuator bands are formed by arranging the plurality of actuator single wires 13 in parallel without intersecting. In addition, the actuator band 1 having a large ratio of the contraction rate to the initial tension can be provided.
　また、複数の電熱線２１の各々は非導電性の弾性糸５１および金属ワイヤ５２を具備し、金属ワイヤ５２は、弾性糸５１に螺旋状に巻き付いていてもよい。 Further, each of the plurality of heating wires 21 includes a non-conductive elastic yarn 51 and a metal wire 52, and the metal wire 52 may be wound around the elastic yarn 51 in a spiral shape.
　これによれば、金属ワイヤ５２が弾性糸５１に対して巻き付いた電熱線２１が用いられているので、金属ワイヤ５２とアクチュエータワイヤ１１との密着面積を高めることができ、熱効率を高めることができる。これにより、初期張力に対する収縮率の割合が大きいアクチュエータバンド１を提供することができる。 According to this, since the heating wire 21 in which the metal wire 52 is wound around the elastic yarn 51 is used, the contact area between the metal wire 52 and the actuator wire 11 can be increased, and the thermal efficiency can be increased. . Thereby, the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be provided.
　また、複数の電熱線２１の各々はアクチュエータワイヤ１１の側面に螺旋状に巻き付いており、かつ複数の電熱線２１が、網状の発熱体１２を形成するように、組まれていてもよい。 Further, each of the plurality of heating wires 21 may be spirally wound around the side surface of the actuator wire 11, and the plurality of heating wires 21 may be assembled so as to form a net-like heating element 12.
　これによれば、網状の発熱体１２をアクチュエータワイヤ１１に密着させることができ、熱効率を高めることができる。これにより、初期張力に対する収縮率の割合が大きいアクチュエータバンド１を提供することができる。 According to this, the net-like heating element 12 can be brought into close contact with the actuator wire 11, and the thermal efficiency can be improved. Thereby, the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be provided.
　また、複数の電熱線２１が、右回りに組まれていてもよい。 Further, a plurality of heating wires 21 may be assembled clockwise.
　これによれば、電熱線２１がアクチュエータワイヤ１１から外れにくいようにすることができる。 According to this, the heating wire 21 can be made difficult to come off from the actuator wire 11.
　また、複数の電熱線２１が、左回りに組まれていてもよい。 Further, a plurality of heating wires 21 may be assembled counterclockwise.
　これによれば、電熱線２１がアクチュエータワイヤ１１から外れにくいようにすることができる。 According to this, the heating wire 21 can be made difficult to come off from the actuator wire 11.
　また、複数の電熱線２１の各々が矩形波状の形状を有しており、かつ矩形波状の形状を有する複数の電熱線２１が、網状の発熱体１２を形成するように、編まれていてもよい。 Further, each of the plurality of heating wires 21 has a rectangular wave shape, and the plurality of heating wires 21 having the rectangular wave shape may be knitted so as to form a net-like heating element 12. Good.
　これによれば、網状の発熱体１２をアクチュエータワイヤ１１に密着させることができ、熱効率を高めることができる。これにより、初期張力に対する収縮率の割合が大きいアクチュエータバンド１を提供することができる。 According to this, the net-like heating element 12 can be brought into close contact with the actuator wire 11, and the thermal efficiency can be improved. Thereby, the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be provided.
　また、複数の電熱線２１の各々はアクチュエータワイヤ１１の側面に螺旋状に巻き付いており、かつ複数の電熱線２１が、網状の発熱体１２を形成するように、織られていてもよい。 Further, each of the plurality of heating wires 21 may be woven around the side surface of the actuator wire 11 in a spiral manner, and the plurality of heating wires 21 may be woven so as to form a net-like heating element 12.
　これによれば、網状の発熱体１２をアクチュエータワイヤ１１に密着させることができ、熱効率を高めることができる。これにより、初期張力に対する収縮率の割合が大きいアクチュエータバンド１を提供することができる。 According to this, the net-like heating element 12 can be brought into close contact with the actuator wire 11, and the thermal efficiency can be improved. Thereby, the actuator band 1 with a large ratio of the shrinkage rate with respect to the initial tension can be provided.
　また、繊維１１１は、直鎖状低密度ポリエチレンからなり、かつ以下の数式（Ｉ）が充足される。 The fiber 111 is made of linear low-density polyethylene and satisfies the following formula (I).
　Ｄ／ｄ＜１　　　（Ｉ） D / d <1 (I)
　ここで、Ｄは、円筒状のコイルの平均直径を表し、かつｄは、繊維の直径を表す。 Here, D represents the average diameter of the cylindrical coil, and d represents the diameter of the fiber.
　この関係性であるために、アクチュエータワイヤ１１の変位率を高くすることができる。 Because of this relationship, the displacement rate of the actuator wire 11 can be increased.
　また、第一接合具４ａおよび第二接合具４ｂを具備し、複数のアクチュエータ単線１３
の一端は、第一接合具４ａによって互いに接合されており、複数のアクチュエータ単線１３の他端は、第二接合具４ｂによって互いに接合されており、網状の発熱体１２の一端は、第一接合具４ａによってアクチュエータワイヤ１１の一端に接合されており、かつ網状の発熱体の他端は、第二接合具４ｂによってアクチュエータワイヤ１１の他端に接合されていてもよい。 In addition, the first connector 4a and the second connector 4b are provided, and a plurality of actuator single wires 13 are provided.
Are connected to each other by the first connector 4a, the other ends of the plurality of actuator single wires 13 are connected to each other by the second connector 4b, and one end of the net-like heating element 12 is connected to the first connector. The other end of the net-like heating element may be joined to the other end of the actuator wire 11 by the second joining tool 4b.
　これによれば、第一接合具４ａによって複数の電熱線２１と複数のアクチュエータワイヤ１１の一端同士が接合され、第二接合具４ｂによって複数の電熱線２１と複数のアクチュエータワイヤ１１の他端同士が接合されているので、簡単な構成でこれらを接合することができる。特に、第一接合具４ａ及び第二接合具４ｂが金属製である場合には、電熱線２１からの熱を第一接合具４ａ及び第二接合具４ｂで放熱することができ、アクチュエータバンド１の両端の焼損を抑制することができる。 According to this, one end of the plurality of heating wires 21 and the plurality of actuator wires 11 is joined by the first joining tool 4a, and the other ends of the plurality of heating wires 21 and the plurality of actuator wires 11 are joined by the second joining tool 4b. Can be joined with a simple configuration. In particular, when the first joint 4a and the second joint 4b are made of metal, heat from the heating wire 21 can be radiated by the first joint 4a and the second joint 4b, and the actuator band 1 Burnout at both ends can be suppressed.
　［その他］
　以上、本発明に係るアクチュエータ装置、アクチュエータバンド及びアクチュエータバンドの製造方法について、上記実施の形態に基づいて説明したが、本発明は、上記の実施の形態に限定されるものではない。 [Others]
The actuator device, the actuator band, and the actuator band manufacturing method according to the present invention have been described based on the above embodiment, but the present invention is not limited to the above embodiment.
　例えば、上記実施の形態では、網状の発熱体１２が組物である場合を例示した。しかしながら、網状の発熱体は織物または編物であってもよい。 For example, in the above embodiment, the case where the net-like heating element 12 is a braid is illustrated. However, the net-like heating element may be a woven fabric or a knitted fabric.
　また、上記実施の形態では、アクチュエータバンド１の一端から他端までの第一軸方向に沿う長さが、第一軸方向に直交する第二軸方向の長さ（幅）よりも長い場合を例示した。しかしながら、アクチュエータバンドにおいては、幅が第一軸方向の長さ以上であってもよい。 Moreover, in the said embodiment, the case where the length along the 1st axial direction from the one end of the actuator band 1 to the other end is longer than the length (width) of the 2nd axial direction orthogonal to a 1st axial direction. Illustrated. However, in the actuator band, the width may be greater than or equal to the length in the first axial direction.
　その他、各実施の形態に対して当業者が思いつく各種変形を施して得られる形態や、本発明の趣旨を逸脱しない範囲で各実施の形態における構成要素及び機能を任意に組み合わせることで実現される形態も本発明に含まれる。 In addition, the embodiment can be realized by arbitrarily combining the components and functions in each embodiment without departing from the scope of the present invention, or a form obtained by subjecting each embodiment to various modifications conceived by those skilled in the art. Forms are also included in the present invention.
１　　アクチュエータバンド
４ａ　第一接合具
４ｂ　第二接合具
５　　制御装置
６　　おもり
７　　固定板
１０　基板
１１　アクチュエータワイヤ
１２　網状の発熱体
１３ａ、１３ｂ　アクチュエータ単線
１４　レーザ変位計
１５　放射温度計
２１ａ、２１ｂ　電熱線
３１　滑車
３２　鏡
５１　弾性糸
５２　金属ワイヤ
６０　アクチュエータ装置
１００　試験装置
１１１、１１１ａ、１１１ｂ　コイル状ポリマー繊維
Ａ１、Ａ２　アクチュエータ単線に沿う軸
ｘ１　第一軸
ｘ２　第二軸
Ｗ　　電線 DESCRIPTION OF SYMBOLS 1 Actuator band 4a 1st joining tool 4b 2nd joining tool 5 Control apparatus 6 Weight 7 Fixing board 10 Board | substrate 11 Actuator wire 12 Net- like heating element 13a, 13b Actuator single line 14 Laser displacement meter 15 Radiation thermometer 21a, 21b Heating wire 31 Pulley 32 Mirror 51 Elastic thread 52 Metal wire 60 Actuator device 100 Test devices 111, 111a, 111b Coiled polymer fibers A1, A2 Axis x1 along actuator single wire First axis x2 Second axis W Electric wire

Claims (20)

  1. 　アクチュエータ装置であって、
    　アクチュエータバンド、および
    　制御装置
    　を具備し、
    　ここで、前記アクチュエータバンドは、複数のアクチュエータ単線を具備し、
    　前記複数のアクチュエータ単線は、組まれ、編まれ、または織られており、
    　前記複数のアクチュエータ単線の一端は、互いに接合されており、
    　前記複数のアクチュエータ単線の他端は、互いに接合されており、
    　前記複数のアクチュエータ単線の各々は、アクチュエータワイヤ、および前記アクチュエータワイヤの側面を被覆しかつ複数の電熱線を具備する網状の発熱体、を具備し、
    　前記アクチュエータワイヤは、高分子からなる繊維から形成され、
    　前記繊維は、その長軸の周りに沿って捩られており、
    　前記繊維は、円筒状のコイルの形状を有するように折りたたまれており、
    　前記アクチュエータワイヤは、加熱により縮み、かつ放熱により復元し、
    　前記網状の発熱体の一端は、前記アクチュエータワイヤの一端に接合されており、
    　前記網状の発熱体の他端は、前記アクチュエータワイヤの他端に接合されており、
    　前記制御装置は、前記網状の発熱体を加熱するための電力を前記網状の発熱体に供給するために用いられ、かつ
    　前記アクチュエータバンドは、その長手方向に沿って張力が印加された状態で加熱されることにより、前記長手方向に沿って収縮する、
    　アクチュエータ装置。     An actuator device comprising:
    An actuator band and a control device,
    Here, the actuator band comprises a plurality of actuator single wires,
    The plurality of actuator single wires are assembled, knitted, or woven;
    One ends of the plurality of actuator single wires are joined to each other,
    The other ends of the plurality of actuator single wires are joined together,
    Each of the plurality of actuator single wires includes an actuator wire, and a net-like heating element that covers a side surface of the actuator wire and includes a plurality of heating wires,
    The actuator wire is formed from a fiber made of a polymer,
    The fibers are twisted around their long axis;
    The fibers are folded to have the shape of a cylindrical coil;
    The actuator wire is shrunk by heating and restored by heat dissipation,
    One end of the net-like heating element is joined to one end of the actuator wire,
    The other end of the net-like heating element is joined to the other end of the actuator wire,
    The control device is used to supply electric power for heating the mesh heating element to the mesh heating element, and the actuator band is heated in a state where a tension is applied along a longitudinal direction thereof. Being contracted along the longitudinal direction,
    Actuator device.
  2. 　前記複数のアクチュエータ単線は、互いに交差している
    　請求項１に記載のアクチュエータ装置。     The actuator device according to claim 1, wherein the plurality of actuator single wires intersect each other.
  3. 　前記複数の電熱線の各々は非導電性の弾性糸および金属ワイヤを具備し、
    　前記金属ワイヤは、前記弾性糸に螺旋状に巻き付いている、
    　請求項１または２に記載のアクチュエータ装置。     Each of the plurality of heating wires comprises a non-conductive elastic yarn and a metal wire,
    The metal wire is spirally wound around the elastic yarn,
    The actuator device according to claim 1 or 2.
  4. 　前記複数の電熱線の各々は前記アクチュエータワイヤの側面に螺旋状に巻き付いており、かつ
    　前記複数の電熱線が、前記網状の発熱体を形成するように、組まれている、
    　請求項１～３のいずれか１項に記載のアクチュエータ装置。     Each of the plurality of heating wires is spirally wound around a side surface of the actuator wire, and the plurality of heating wires are assembled so as to form the net-like heating element.
    The actuator device according to any one of claims 1 to 3.
  5. 　前記複数の電熱線が、右回りに組まれている、
    　請求項４に記載のアクチュエータ装置。     The plurality of heating wires are assembled clockwise.
    The actuator device according to claim 4.
  6. 　前記複数の電熱線が、左回りに組まれている、
    　請求項４に記載のアクチュエータ装置。     The plurality of heating wires are assembled counterclockwise,
    The actuator device according to claim 4.
  7. 　前記複数の電熱線の各々が矩形波状の形状を有しており、かつ
    　前記矩形波状の形状を有する前記複数の電熱線が、前記網状の発熱体を形成するように、編まれている、
    　請求項１～３のいずれか１項に記載のアクチュエータ装置。     Each of the plurality of heating wires has a rectangular wave shape, and the plurality of heating wires having the rectangular wave shape are knitted so as to form the net-like heating element,
    The actuator device according to any one of claims 1 to 3.
  8. 　前記複数の電熱線の各々はアクチュエータワイヤの側面に螺旋状に巻き付いており、かつ
    　前記複数の電熱線が、前記網状の発熱体を形成するように、織られている、
    　請求項１～３のいずれか１項に記載のアクチュエータ装置。     Each of the plurality of heating wires is spirally wound around a side surface of the actuator wire, and the plurality of heating wires are woven so as to form the net-like heating element.
    The actuator device according to any one of claims 1 to 3.
  9. 　前記繊維は、直鎖状低密度ポリエチレンからなり、かつ
    　以下の数式（Ｉ）が充足される：
    　Ｄ／ｄ＜１　　　（Ｉ）
    　ここで、
    　Ｄは、前記円筒状のコイルの平均直径を表し、かつ
    　ｄは、前記繊維の直径を表す、
    　請求項１～８のいずれか１項に記載のアクチュエータ装置。     The fibers consist of linear low density polyethylene and satisfy the following formula (I):
    D / d <1 (I)
    here,
    D represents the average diameter of the cylindrical coil, and d represents the diameter of the fiber.
    The actuator device according to any one of claims 1 to 8.
  10. 　複数のアクチュエータ単線を具備するアクチュエータバンドであって、
    　前記複数のアクチュエータ単線は、組まれ、編まれ、または織られており、
    　前記複数のアクチュエータ単線の一端は、互いに接合されており、
    　前記複数のアクチュエータ単線の他端は、互いに接合されており、
    　前記複数のアクチュエータ単線の各々は、アクチュエータワイヤ、および前記アクチュエータワイヤの側面を被覆し、かつ複数の電熱線を具備する網状の発熱体を具備し、
    　前記アクチュエータワイヤは、高分子からなる繊維から形成され、
    　前記繊維は、その長軸の周りに沿って捩られており、
    　前記繊維は、円筒状のコイルの形状を有するように折りたたまれており、
    　前記アクチュエータワイヤは、加熱により縮み、かつ放熱により復元し、
    　前記網状の発熱体の一端は、前記アクチュエータワイヤの一端に接合されており、かつ
    　前記網状の発熱体の他端は、前記アクチュエータワイヤの他端に接合されている、
    　アクチュエータバンド。     An actuator band comprising a plurality of single actuator wires,
    The plurality of actuator single wires are assembled, knitted, or woven;
    One ends of the plurality of actuator single wires are joined to each other,
    The other ends of the plurality of actuator single wires are joined together,
    Each of the plurality of actuator single wires includes an actuator wire and a net-like heating element that covers a side surface of the actuator wire and includes a plurality of heating wires,
    The actuator wire is formed from a fiber made of a polymer,
    The fibers are twisted around their long axis;
    The fibers are folded to have the shape of a cylindrical coil;
    The actuator wire is shrunk by heating and restored by heat dissipation,
    One end of the mesh heating element is bonded to one end of the actuator wire, and the other end of the mesh heating element is bonded to the other end of the actuator wire.
    Actuator band.
  11. 　前記複数のアクチュエータ単線は、互いに交差している
    　請求項１０に記載のアクチュエータバンド。     The actuator band according to claim 10, wherein the plurality of actuator single wires intersect each other.
  12. 　前記複数の電熱線の各々は、非導電性の弾性糸および金属ワイヤを具備し、
    　前記金属ワイヤは、前記弾性糸に螺旋状に巻き付いている、
    　請求項１０または１１に記載のアクチュエータバンド。     Each of the plurality of heating wires comprises a non-conductive elastic yarn and a metal wire,
    The metal wire is spirally wound around the elastic yarn,
    The actuator band according to claim 10 or 11.
  13. 　前記複数の電熱線の各々は前記アクチュエータワイヤの側面に螺旋状に巻き付いており、かつ
    　前記複数の電熱線が、前記網状の発熱体を形成するように、組まれている、
    　請求項１０～１２のいずれか１項に記載のアクチュエータバンド。     Each of the plurality of heating wires is spirally wound around a side surface of the actuator wire, and the plurality of heating wires are assembled so as to form the net-like heating element.
    The actuator band according to any one of claims 10 to 12.
  14. 　前記複数の電熱線が、右回りに組まれている、
    　請求項１３に記載のアクチュエータバンド。     The plurality of heating wires are assembled clockwise.
    The actuator band according to claim 13.
  15. 　前記複数の電熱線が、左回りに組まれている、
    　請求項１３に記載のアクチュエータバンド。     The plurality of heating wires are assembled counterclockwise,
    The actuator band according to claim 13.
  16. 　前記複数の電熱線の各々が矩形波状の形状を有しており、かつ
    　前記矩形波状の形状を有する前記複数の電熱線が、前記網状の発熱体を形成するように、編まれている、
    　請求項１０～１２のいずれか１項に記載のアクチュエータバンド。     Each of the plurality of heating wires has a rectangular wave shape, and the plurality of heating wires having the rectangular wave shape are knitted so as to form the net-like heating element,
    The actuator band according to any one of claims 10 to 12.
  17. 　前記複数の電熱線の各々はアクチュエータワイヤの側面に螺旋状に巻き付いており、かつ
    　前記複数の電熱線が、前記網状の発熱体を形成するように、織られている、
    　請求項１０～１２のいずれか１項に記載のアクチュエータバンド。     Each of the plurality of heating wires is spirally wound around a side surface of the actuator wire, and the plurality of heating wires are woven so as to form the net-like heating element.
    The actuator band according to any one of claims 10 to 12.
  18. 　前記繊維は、直鎖状低密度ポリエチレンからなり、かつ
    　以下の数式（Ｉ）が充足される：
    　Ｄ／ｄ＜１　　　（Ｉ）
    　ここで、
    　Ｄは、前記円筒状のコイルの平均直径を表し、かつ
    　ｄは、前記繊維の直径を表す、
    　請求項１０～１７のいずれか１項に記載のアクチュエータバンド。     The fibers consist of linear low density polyethylene and satisfy the following formula (I):
    D / d <1 (I)
    here,
    D represents the average diameter of the cylindrical coil, and d represents the diameter of the fiber.
    The actuator band according to any one of claims 10 to 17.
  19. 　第一接合具および第二接合具を具備し、
    　前記複数のアクチュエータ単線の一端は、前記第一接合具によって互いに接合されており、
    　前記複数のアクチュエータ単線の他端は、前記第二接合具によって互いに接合されており、
    　前記網状の発熱体の一端は、前記第一接合具によって前記アクチュエータワイヤの一端に接合されており、かつ
    　前記網状の発熱体の他端は、前記第二接合具によって前記アクチュエータワイヤの他端に接合されている、
    　請求項１０～１８のいずれか１項に記載のアクチュエータバンド。     Comprising a first connector and a second connector;
    One ends of the plurality of actuator single wires are joined to each other by the first joint tool,
    The other ends of the plurality of actuator single wires are joined together by the second joint tool,
    One end of the mesh heating element is joined to one end of the actuator wire by the first connector, and the other end of the mesh heating element is joined to the other end of the actuator wire by the second connector. Joined,
    The actuator band according to any one of claims 10 to 18.
  20. 　請求項１０～１９のいずれか１項に記載のアクチュエータバンドの製造方法であって、以下の工程を具備する：
    　（ａ）加熱により縮み、かつ放熱により復元するアクチュエータワイヤを形成する工程、ここで、
    　　前記アクチュエータワイヤは、高分子からなる複数の繊維が互いに撚られることで形成され、
    　　前記繊維は、その長軸の周りに沿って捩られており、かつ
    　　前記繊維は、円筒状のコイルの形状を有するように折りたたまれており、
    　（ｂ）前記アクチュエータワイヤの側面に網状の発熱体を設けてアクチュエータ単線を得る工程、かつ
    　（ｃ）複数の前記アクチュエータ単線を組んで、編んで、または織って、前記アクチュエータバンドを得る工程。     The method for manufacturing an actuator band according to any one of claims 10 to 19, comprising the following steps:
    (A) forming an actuator wire that shrinks by heating and recovers by heat dissipation, wherein
    The actuator wire is formed by twisting a plurality of fibers made of a polymer,
    The fibers are twisted around their long axis, and the fibers are folded to have the shape of a cylindrical coil;
    (B) A step of providing a net-like heating element on the side surface of the actuator wire to obtain an actuator single wire, and (c) a step of assembling, knitting or weaving a plurality of the actuator single wires to obtain the actuator band.
PCT/JP2019/008786 2018-05-31 2019-03-06 Actuator device, actuator band, and actuator band manufacturing method WO2019230102A1 (en)

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